Rotation.from_quaternion

classmethod Rotation.from_quaternion(quaternion)

Construct a rotation transformation` from quaternion coefficients.

Parameters:

quaternion[float, float, float, float] | compas.geometry.Quaternion

Four numbers that represents the four coefficient values of a quaternion.

Returns:

compas.geometry.Rotation

Examples

>>> from compas.tolerance import TOL
>>> q1 = [0.945, -0.021, -0.125, 0.303]
>>> R = Rotation.from_quaternion(q1)
>>> q2 = R.quaternion
>>> TOL.is_allclose(q1, q2, atol=1e-3)
True