Fixed bug in rotation3d_y
@@ -685,9 +685,9 @@ def rotation3d_y(angle):
c = np.cos(angle)
s = np.sin(angle)
mat = np.zeros((3, 3))
- mat[0, :] = [c, 0.0, -s]
+ mat[0, :] = [c, 0.0, s]
mat[1, :] = [0.0, 1.0, 0.0]
- mat[2, :] = [s, 0.0, c]
+ mat[2, :] = [-s, 0.0, c]
return mat
@@ -765,7 +765,7 @@ def euler2rot(euler):
def euler2quat(euler):
euler_rot = euler2rot(euler) # this is Cag
- quat = rotation2quat(euler_rot.T)
+ quat = rotation2quat(euler_rot)
return quat
