Conversion from quaternions to arbitrary Euler angles

dfki-ric / pytransform3d

3D transformations for Python.

https://dfki-ric.github.io/pytransform3d/

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Conversion from quaternions to arbitrary Euler angles #208

Closed AlexanderFabisch closed 1 year ago

AlexanderFabisch commented 1 year ago

Fixes #207

TODO

[x] numerical safety as in [1] and [2]
[x] make general interface instead of 24 different functions
[x] test coverage
[x] test edge cases

AlexanderFabisch commented 1 year ago

@evbernardes Since this is your algorithm, would you have time for a review?

AlexanderFabisch commented 1 year ago

As a new addition, I'd personally make a corresponding quaternion_from_euler function too though, not only for consistency but also for easier testing (since this operation is trivial.)

That's maybe another pull request. I'll open another issue for it.

Thanks for the review and the suggestion!