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Quaternion

class Quaternion(data)

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Bases: object

A class representing a Quaternion.


Methods

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

Quaternion

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

Quaternion

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

Quaternion

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

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