Quaternion
class Quaternion(data)
A class representing a Quaternion.
Methods
__call__
Quaternion.__call__(idx)
Call self as a function.
__mul__
Quaternion.__mul__(r)
from_axis_rotation
classmethod Quaternion.from_axis_rotation(angle, axis)
Return quaternion for rotation about given axis.
Parameters
- angle (float) – Angle in radians.
- axis (str) – Axis for rotation
Returns
Quaternion for axis rotation.
Return type
Raises
ValueError – Invalid input axis.
from_euler
classmethod Quaternion.from_euler(angles, order='yzy')
Generate a quaternion from a set of Euler angles.
Parameters
- angles (array_like) – Array of Euler angles.
- order (str) – Order of Euler rotations. ‘yzy’ is default.
Returns
Quaternion representation of Euler rotation.
Return type
norm
Quaternion.norm()
Norm of quaternion.
normalize
Quaternion.normalize(inplace=False)
Normalizes a Quaternion to unit length so that it represents a valid rotation.
Parameters
inplace (bool) – Do an inplace normalization.
Returns
Normalized quaternion.
Return type
to_matrix
Quaternion.to_matrix()
Converts a unit-length quaternion to a rotation matrix.
Returns
Rotation matrix.
Return type
ndarray
to_zyz
Quaternion.to_zyz()
Converts a unit-length quaternion to a sequence of ZYZ Euler angles.
Returns
Array of Euler angles.
Return type
ndarray