pytransform3d.rotations.compact_axis_angle_from_quaternion

pytransform3d.rotations.compact_axis_angle_from_quaternion(q)

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, shape (3,)

Axis of rotation and rotation angle: angle * (x, y, z). The angle is constrained to [0, pi].