skrobot.coordinates.math.quaternion2matrix¶
- skrobot.coordinates.math.quaternion2matrix(q, normalize=False)[source]¶
Returns matrix of given quaternion.
- Parameters:
quaternion (list or numpy.ndarray) – quaternion [w, x, y, z] order
normalize (bool) – if normalize is True, input quaternion is normalized.
- Returns:
rot – 3x3 rotation matrix
- Return type:
Examples
>>> import numpy >>> from skrobot.coordinates.math import quaternion2matrix >>> quaternion2matrix([1, 0, 0, 0]) array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])