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dfki-ric / pytransform3d

3D transformations for Python.
https://dfki-ric.github.io/pytransform3d/
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Implement direct conversion from Euler angles to quaternions #211

Closed AlexanderFabisch closed 1 year ago

AlexanderFabisch commented 1 year ago

Related to #207

Interface: quaternion_from_euler(e: npt.ArrayLike, i: int, j: int, k: int, extrinsic: bool) -> np.ndarray

Easiest solution:

  1. Convert axis indices to rotation axes
  2. Convert to three axis-angle representations
  3. Convert to three quaternions
  4. Concatenate quaternions