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f32790c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 | import itertools
import numpy as np
from scipy.spatial.transform import Rotation
out = []
for perm in itertools.permutations(range(3)):
for signs in itertools.product([1, -1], repeat=3):
M = np.zeros((3, 3))
for i, p in enumerate(perm):
M[i, p] = signs[i]
if abs(np.linalg.det(M) - 1.0) < 1e-6:
out.append(M)
print("всего разворотов: %d" % len(out))
for idx in (22, 18, 19, 15):
M = out[idx]
R = Rotation.from_matrix(M)
rv = R.as_rotvec()
ang = float(np.linalg.norm(rv))
ax = np.round(rv / ang, 3) if ang > 1e-9 else np.zeros(3)
print("")
print("#%d" % idx)
print(M.astype(int))
print(" ось %s угол %.1f градусов" % (ax, np.degrees(ang)))
print(" кватернион xyzw %s" % np.round(R.as_quat(), 4))
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