norbert-acedanski / quaternion-rotation

Script allows you to rotate a quaternion with given XYZ Euler angles

quaternion-rotation

About The Project

Script allows you to rotate a quaternion by XYZ Euler (so rotation about local target axes) angles and produces new quaternion.

Built With

Python 3.9.10

Getting started

Requirements

All required packages in requirements.txt file.

To install all required packages, type:

pip install -r requirements.txt

in the terminal.

Working with quaternion-rotation:

1. At the top of the file, input the quaternion you want to rotate in quaternion_to_rotate variable.
2. Input also the angle matrix to angle_matrix variable.
3. Run the script.
4. After successful execution, program should print simple rotations and after that, the desired rotation.

Usage

Script comes in handy in robot programming, when you have no other way of rotating a robot target about axes you specify.

References

Everything About Unit Quaternions to Express Orientations in Robotics + Great Demos [LESSON 12] - https://www.youtube.com/watch?v=Ek9fySVzuq4
Conversion between quaternions and Euler angles - https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
Maths - Conversion Matrix to Quaternion - https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
Converting a Rotation Matrix to a Quaternion - https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf

Licence

Distributed under the MIT License. See LICENSE file for more information.