pytransform3d.rotations.compact_axis_angle_from_quaternion¶
- pytransform3d.rotations.compact_axis_angle_from_quaternion(q)[source]¶
Compute compact axis-angle from quaternion (logarithmic map).
We usually assume active rotations.
- Parameters:
- qarray-like, shape (4,)
Unit quaternion to represent rotation: (w, x, y, z)
- Returns:
- aarray-like, shape (3,)
Axis of rotation and rotation angle: angle * (x, y, z). The angle is constrained to [0, pi].