skrobot.coordinates.math.quaternion2rpy

skrobot.coordinates.math.quaternion2rpy(q)

Returns Roll-pitch-yaw angles of a given quaternion.

Parameters:

q (numpy.ndarray or list) – Quaternion in [w x y z] format.

Returns:

rpy – Array of yaw-pitch-roll angles, in radian.

Return type:

numpy.ndarray

Examples

>>> from skrobot.coordinates.math import quaternion2rpy
>>> quaternion2rpy([1, 0, 0, 0])
(array([ 0., -0.,  0.]), array([3.14159265, 3.14159265, 3.14159265]))
>>> quaternion2rpy([0, 1, 0, 0])
(array([ 0.        , -0.        ,  3.14159265]),
 array([3.14159265, 3.14159265, 0.        ]))