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There is a Python version of the KDL library (PyKDL), which allows you to do all sorts of conversions between rotation representations. An example would look like this:

{{{ import PyKDL a = PyKDL.Rotation.Quaternion(x, y, z, w) b = PyKDL.Rotation.Quaternion(x, y, z, w)

c = a * b.Inverse() c.GetQuaternion() # get quaternion result c.GetRPY() # get roll pitch yaw result c.GetEulerZYX() # get euler angle result in zyx format }}}

There is a small tutorial here that will give you some more background.

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There is a Python version of the KDL library (PyKDL), which allows you to do all sorts of conversions between rotation representations. An example would look like this:

{{{

import PyKDL
a = PyKDL.Rotation.Quaternion(x, y, z, w)
b = PyKDL.Rotation.Quaternion(x, y, z, w)

w)

c = a * b.Inverse() c.GetQuaternion() # get quaternion result c.GetRPY() # get roll pitch yaw result c.GetEulerZYX() # get euler angle result in zyx format }}}

There is a small tutorial here that will give you some more background.