skrobot.coordinates.math.rotation_matrix_from_quat¶

skrobot.coordinates.math.rotation_matrix_from_quat(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:

numpy.ndarray

Examples

>>> import numpy
>>> from skrobot.coordinates.math import quaternion2matrix
>>> quaternion2matrix([1, 0, 0, 0])
array([[1., 0., 0.],
       [0., 1., 0.],
       [0., 0., 1.]])