bispy.utils.euler2quat¶
- bispy.utils.euler2quat(a, theta, chi, phi)[source]¶
Quaternion from Euler polar form.
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:
- a, theta, chi, phiarray_type
- Returns:
- qquaternion numpy array
See also