gcode预览测试

refer/test_rot.py

@@ -0,0 +1,25 @@
+import numpy as np
+import math
+
+rx = math.radians(-60.0)
+rz = math.radians(45.0)
+cosX, sinX = math.cos(rx), math.sin(rx)
+cosZ, sinZ = math.cos(rz), math.sin(rz)
+# Original code rotation matrix
+rot = np.array([
+    [cosZ, -sinZ*cosX, sinZ*sinX, 0],
+    [sinZ, cosZ*cosX, -cosZ*sinX, 0],
+    [0, sinX, cosX, 0],
+    [0, 0, 0, 1]
+])
+print("Original rot:\\n", rot)
+
+# Correct orbit Rx @ Rz
+rot_correct = np.array([
+    [cosZ, -sinZ, 0, 0],
+    [cosX*sinZ, cosX*cosZ, -sinX, 0],
+    [sinX*sinZ, sinX*cosZ, cosX, 0],
+    [0, 0, 0, 1]
+])
+print("Rx @ Rz:\\n", rot_correct)
+