bispy.utils.quat2euler¶
- bispy.utils.quat2euler(q)[source]¶
Euler polar form of a quaternion array.
The decomposition reads:
q = a * np.exp(i * theta) * np.exp(-k * chi) * np.exp(j * phi)
with a > 0, -pi/2 < theta < pi/2, -pi/4 < chi < pi/4 and -pi < phi < pi .
- Parameters:
- qquaternion numpy array
- Returns:
- a, theta, chi, phiarray_type
See also