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36 lines
749 B
Python
36 lines
749 B
Python
import math
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import numpy as np
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DEG_TO_RADS = math.pi / 180
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def T1(angle, degrees=False):
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angle = angle * DEG_TO_RADS if degrees else angle
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return np.array([
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[1, 0, 0],
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[0, math.cos(angle), math.sin(angle)],
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[0, -math.sin(angle), math.cos(angle)],
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])
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def T2(angle, degrees=False):
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angle = angle * DEG_TO_RADS if degrees else angle
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return np.array([
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[math.cos(angle), 0, -math.sin(angle)],
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[0, 1, 0],
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[math.sin(angle), 0, math.cos(angle)]
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])
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def T3(angle, degrees=False):
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angle = angle * DEG_TO_RADS if degrees else angle
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return np.array([
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[math.cos(angle), math.sin(angle), 0],
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[-math.sin(angle), math.cos(angle), 0],
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[0, 0, 1]
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]) |