skrobot.coordinates.math.quat_from_rpy

skrobot.coordinates.math.quat_from_rpy(rpy)

Return Quaternion from yaw-pitch-roll angles.

Parameters:

rpy (numpy.ndarray or list) – Vector of yaw-pitch-roll angles in radian.

Returns:

quat – Quaternion in [w x y z] format.

Return type:

numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import rpy2quaternion
>>> rpy2quaternion([0, 0, 0])
array([1., 0., 0., 0.])
>>> yaw = np.pi / 3.0
>>> rpy2quaternion([yaw, 0, 0])
array([0.8660254, 0.       , 0.       , 0.5      ])
>>> rpy2quaternion([np.pi * 2 - yaw, 0, 0])
array([-0.8660254, -0.       ,  0.       ,  0.5      ])