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-like, shape (4,)

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

Examples using pytransform3d.rotations.quaternion_from_compact_axis_angle