to_axang#

Quaternion.to_axang() → Tuple[ndarray, float]#

Return equivalent axis-angle representation of the quaternion.

Returns:

  • axis (numpy.ndarray) – Three-dimensional axis to rotate about

  • angle (float) – Amount of rotation, in radians, to rotate about.

Examples

>>> q = Quaternion([0.7071, 0.7071, 0.0, 0.0])
>>> q.to_axang()
(array([1., 0., 0.]), 1.5707963267948966)