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.
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.