skrobot.coordinates.math.rpy2quaternion¶
- skrobot.coordinates.math.rpy2quaternion(rpy)[source]¶
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:
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 ])