pytransform3d.rotations.quaternion_from_compact_axis_angle#
- pytransform3d.rotations.quaternion_from_compact_axis_angle(a)[source]#
Compute quaternion from compact axis-angle (exponential map).
We usually assume active rotations.
- Parameters:
- aarray-like, shape (4,)
Axis of rotation and rotation angle: angle * (x, y, z)
- Returns:
- qarray, shape (4,)
Unit quaternion to represent rotation: (w, x, y, z)