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dfki-ric / pytransform3d

3D transformations for Python.
https://dfki-ric.github.io/pytransform3d/
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Implement direct conversion between quaternions and euler angles in any sequence #207

Closed evbernardes closed 1 year ago

evbernardes commented 1 year ago

I recently published a paper (open access) on a direct conversion between quaternions and euler angles in any sequence, that is a lot simpler to implement, faster to compute and does not need an intermediate step converting it to a matrix.

Since its publication, it has already been merged into Scipy, replacing the existing method, and it is also now part of Sympy.

Since the original Scipy Rotation.as_euler method was used as an inspiration for _general_intrinsic_euler_from_active_matrix, the new direct method could be a nice addition to this library.

AlexanderFabisch commented 1 year ago

Hi @evbernardes ,

thanks for the hint. I will take a look.

AlexanderFabisch commented 1 year ago

Solved with #208