rigid_body_motion.from_euler_angles

rigid_body_motion.from_euler_angles(rpy=None, roll=None, pitch=None, yaw=None, axis=- 1, order='rpy', return_quaternion=False)

Construct quaternions from Euler angles.

This method differs from the method found in the quaternion package in that it is actually useful for converting commonly found Euler angle representations to quaternions.

Parameters

rpy: array-like, shape (…, 3, …), optional

Array with roll, pitch and yaw values. Mutually exclusive with roll, pitch and yaw arguments.

roll: array-like, optional

Array with roll values. Mutually exclusive with rpy argument.

pitch: array-like, optional

Array with pitch values. Mutually exclusive with rpy argument.

yaw: array-like, optional

Array with yaw values. Mutually exclusive with rpy argument.

axis: int, default -1

Array axis representing RPY values of rpy argument.

order: str, default “rpy”

Order of consecutively applied rotations. Defaults to roll -> pitch -> yaw.

return_quaternion: bool, default False

If True, return result as quaternion dtype.

Returns

q: array-like

Array with quaternions