skrobot.coordinates.math.matrix2quaternion¶
- skrobot.coordinates.math.matrix2quaternion(m)[source]¶
Returns quaternion of given rotation matrix.
- Parameters:
m (list or numpy.ndarray) – 3x3 rotation matrix
- Returns:
quaternion – quaternion [w, x, y, z] order
- Return type:
Examples
>>> import numpy >>> from skrobot.coordinates.math import matrix2quaternion >>> matrix2quaternion(np.eye(3)) array([1., 0., 0., 0.])