quaternion_to_euler¶
- giant.rotations.quaternion_to_euler(quaternion, order='xyz')[source]¶
This function converts a rotation quaternion to 3 euler angles to be applied to the axes specified in order.
This function works by first converting the quaternion to a rotation matrix using
quaternion_to_rotmat()
and then using the functionrotmat_to_euler()
to find the euler angles. See the documentation for those two functions for more information.This function is vectorized so multiple quaternions can be converted simultaneously by specifying them as columns.
- Parameters:
quaternion (Sequence | ndarray | Rotation) – The quaternion(s) to be converted to euler angles
order (str) – The order of the rotations
- Returns:
The euler angles corresponding to the rotation quaternion(s) acording to order
- Return type:
Tuple[Sequence | ndarray | Real, Sequence | ndarray | Real, Sequence | ndarray | Real]