pytransform3d.batch_rotations.axis_angles_from_quaternions

pytransform3d.batch_rotations.axis_angles_from_quaternions(qs)

Compute axis-angle from quaternion.

This operation is called logarithmic map.

We usually assume active rotations.

Parameters:

qsarray-like, shape (…, 4)

Unit quaternion to represent rotation: (w, x, y, z)

Returns:

asarray, shape (…, 4)

Axis of rotation and rotation angle: (x, y, z, angle). The angle is constrained to [0, pi) so that the mapping is unique.