pytransform3d.rotations.quaternion_from_matrix#
- pytransform3d.rotations.quaternion_from_matrix(R, strict_check=True)[source]#
Compute quaternion from rotation matrix.
We usually assume active rotations.
Warning
When computing a quaternion from the rotation matrix there is a sign ambiguity: q and -q represent the same rotation.
- Parameters:
- Rarray-like, shape (3, 3)
Rotation matrix
- strict_checkbool, optional (default: True)
Raise a ValueError if the rotation matrix is not numerically close enough to a real rotation matrix. Otherwise we print a warning.
- Returns:
- qarray, shape (4,)
Unit quaternion to represent rotation: (w, x, y, z)