From 970f09bfb720e8624e63e9c9eafdbeca92c0de16 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 6 Oct 2011 11:56:47 +0200
Subject: [PATCH] Added some cases for matrix2vector convertion + corrected a
probable bug in rpy.
---
python/matrix_util.py | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/python/matrix_util.py b/python/matrix_util.py
index 2aaf588..ab43f0c 100644
--- a/python/matrix_util.py
+++ b/python/matrix_util.py
@@ -19,12 +19,13 @@ def matrixToTuple(M):
return tuple(res)
def vectorToTuple(M):
- if M.shape[0]==1: return tuple(M.tolist()[0])
+ if len(M.shape)==1: return tuple(M.tolist())
+ elif M.shape[0]==1: return tuple(M.tolist()[0])
else: return tuple(M.transpose().tolist()[0])
# Convert from Roll, Pitch, Yaw to transformation Matrix
def rpy2tr(r,p,y):
- mat = matrix(rotate('z',r))*matrix(rotate('y',p))*matrix(rotate('x',y))
+ mat = matrix(rotate('z',y))*matrix(rotate('y',p))*matrix(rotate('x',r))
return matrixToTuple(mat)
# Get the distance btw the position components of 2 transf matrices
--
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