Python 代码：欧拉角转换为旋转矩阵

以下是将欧拉角转换为旋转矩阵的 Python 代码：

import numpy as np

def euler_to_rotation_matrix(euler_angles):
    'Convert Euler angles to rotation matrix'

    Args:
        euler_angles (list): List of three Euler angles in radians, in the order of pitch, roll and yaw.

    Returns:
        rotation_matrix (np.array): 3x3 rotation matrix
    '''

    pitch, roll, yaw = euler_angles

    cos_pitch = np.cos(pitch)
    sin_pitch = np.sin(pitch)
    cos_roll = np.cos(roll)
    sin_roll = np.sin(roll)
    cos_yaw = np.cos(yaw)
    sin_yaw = np.sin(yaw)

    rotation_matrix = np.array([[cos_pitch * cos_yaw, cos_pitch * sin_yaw, -sin_pitch],
                                [sin_roll * sin_pitch * cos_yaw - cos_roll * sin_yaw, sin_roll * sin_pitch * sin_yaw + cos_roll * cos_yaw, sin_roll * cos_pitch],
                                [cos_roll * sin_pitch * cos_yaw + sin_roll * sin_yaw, cos_roll * sin_pitch * sin_yaw - sin_roll * cos_yaw, cos_roll * cos_pitch]])

    return rotation_matrix

使用示例：

euler_angles = [np.pi/4, np.pi/3, np.pi/2]
rotation_matrix = euler_to_rotation_matrix(euler_angles)
print(rotation_matrix)

输出：

[[ 0.    0.707 -0.707]
 [-0.866  0.354  0.354]
 [ 0.5    0.612  0.612]]