pytransform3d.rotations.quaternion_from_axis_angle

pytransform3d.rotations.quaternion_from_axis_angle(a)[source]

Compute quaternion from axis-angle.

This operation is called exponential map.

We usually assume active rotations.

Parameters
aarray-like, shape (4,)

Axis of rotation and rotation angle: (x, y, z, angle)

Returns
qarray-like, shape (4,)

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

Examples using pytransform3d.rotations.quaternion_from_axis_angle