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angle_axis_from_quaternion

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Grant Sanderson 2018-09-27 17:35:40 -07:00
parent 656a1d8b8e
commit 34b8326c7a
1 changed files with 11 additions and 0 deletions
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11
utils/space_ops.py
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@ -34,6 +34,17 @@ def quaternion_from_angle_axis(angle, axis):
)
def angle_axis_from_quaternion(quaternion):
axis = normalize(
quaternion[1:],
fall_back=np.array([1, 0, 0])
)
angle = 2 * np.arccos(quaternion[0])
if angle > TAU / 2:
angle = TAU - angle
return angle, axis
def quaternion_conjugate(quaternion):
result = np.array(quaternion)
result[1:] *= -1