Some simple functions for quaternion math
Simple Quaternions (
Generally I don't need all of the capabilities (or complexity) of
math libraries. Basically I just need a way to convert between Euler and
Quaternion representations and have a nice way to print them out.
pip install squaternion
This is all this library does, convert between Euler angles and Quaternions. There are other libraries that do so much more ... but I don't need all of that.
from squaternion import euler2quat, quat2euler, Quaternion # if you know the values you want Quaternion(w, x, y, z), note this is a # namedtuple so it is immutable once created q = Quaternion(1,0,0,0) # however you typically don't think in 4 dimensions, so create from # euler angles euler2quat(roll, pitch, yaw), default is radians, but set # degrees true if giving degrees q = euler2quat(0, -90, 100, degrees=True) # can get the euler angles back out in degrees (set to True) e = quat2euler(*q, degrees=True)
- Wikipedia Convert Between Quaternions and Euler Angles
- Wikipedia Euler Angle Definitions
- Wikipedia Gimbal Lock
Copyright (c) 2018 Kevin Walchko
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