skrobot.coordinates.math.quat_from_rotation_matrix

skrobot.coordinates.math.quat_from_rotation_matrix(m)

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:

numpy.ndarray

Examples

>>> import numpy
>>> from skrobot.coordinates.math import matrix2quaternion
>>> matrix2quaternion(np.eye(3))
array([1., 0., 0., 0.])