quaternion_from_axis_angle
- compas.geometry.quaternion_from_axis_angle(axis, angle)[source]
Returns a quaternion describing a rotation around the given axis by the given angle.
- Parameters:
- axis[float, float, float] |
compas.geometry.Vector
XYZ coordinates of the rotation axis vector.
- anglefloat
Angle of rotation in radians.
- axis[float, float, float] |
- Returns:
- [float, float, float, float]
Quaternion as a list of four real values
[qw, qx, qy, qz]
.
Examples
>>> axis = [1.0, 0.0, 0.0] >>> angle = math.pi/2 >>> q = quaternion_from_axis_angle(axis, angle) >>> allclose(q, [math.sqrt(2)/2, math.sqrt(2)/2, 0, 0]) True