to_angles

Quaternion.to_angles() → ndarray

Return corresponding Euler angles of quaternion.

Given a unit quaternion \(\mathbf{q} = \begin{pmatrix}q_w & q_x & q_y & q_z\end{pmatrix}\), its corresponding Euler angles [WikiConversions] are:

\[\begin{split}\begin{bmatrix} \phi \\ \theta \\ \psi \end{bmatrix} = \begin{bmatrix} \mathrm{atan2}\big(2(q_wq_x + q_yq_z), 1-2(q_x^2+q_y^2)\big) \\ \arcsin\big(2(q_wq_y - q_zq_x)\big) \\ \mathrm{atan2}\big(2(q_wq_z + q_xq_y), 1-2(q_y^2+q_z^2)\big) \end{bmatrix}\end{split}\]

Returns:

angles – Euler angles of quaternion.

Return type:

numpy.ndarray