Python 代码：欧拉角转换为旋转矩阵

以下是 Python 代码示例，将欧拉角转换为旋转矩阵：

import numpy as np

def euler_to_rotation_matrix(euler_angles):
    # 将欧拉角转换为弧度
    roll = euler_angles[0] * np.pi / 180.0
    pitch = euler_angles[1] * np.pi / 180.0
    yaw = euler_angles[2] * np.pi / 180.0

    # 计算旋转矩阵
    rotation_x = np.array([[1, 0, 0],
                           [0, np.cos(roll), -np.sin(roll)],
                           [0, np.sin(roll), np.cos(roll)]])
    rotation_y = np.array([[np.cos(pitch), 0, np.sin(pitch)],
                           [0, 1, 0],
                           [-np.sin(pitch), 0, np.cos(pitch)]])
    rotation_z = np.array([[np.cos(yaw), -np.sin(yaw), 0],
                           [np.sin(yaw), np.cos(yaw), 0],
                           [0, 0, 1]])

    # 返回旋转矩阵
    return np.dot(rotation_z, np.dot(rotation_y, rotation_x))

# 示例
euler_angles = [30, 45, 60] # 欧拉角
R = euler_to_rotation_matrix(euler_angles) # 旋转矩阵
print(R)

该代码使用 NumPy 库来计算旋转矩阵。代码首先将欧拉角转换为弧度，然后分别计算绕 X 轴、Y 轴和 Z 轴的旋转矩阵，最后将三个矩阵相乘得到最终的旋转矩阵。代码示例展示了如何将欧拉角 [30, 45, 60] 转换为旋转矩阵。