quaternion_to_euler

Implementation of a direct quaternion_to_euler method that works for every sequence.

https://github.com/evbernardes/quaternion_to_euler

Science Score: 57.0%

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Low similarity (6.5%) to scientific vocabulary

Last synced: 10 months ago · JSON representation ·

Repository

Implementation of a direct quaternion_to_euler method that works for every sequence.

Basic Info

Host: GitHub
Owner: evbernardes
Language: Python
Default Branch: main
Size: 11.7 KB

Statistics

Stars: 12
Watchers: 1
Forks: 2
Open Issues: 0
Releases: 0

Created about 4 years ago · Last pushed almost 2 years ago

Metadata Files

Readme Citation

README.md

Quaternion to Euler Scipy Implementation

It contains the implementation of the method described in https://doi.org/10.1371/journal.pone.0276302. for the direct conversion of a rotation Quaternion into Euler angles of any given sequence.

Note: sadly, the original paper was published with some typos in the equations. For an updated version with the correct equations, check Chapter 10 of my PhD thesis manuscript.

This implementation is heavily based in the older Scipy implementation.

Unit tests

All the necessary unit tests showing the correctedness of the algorithm can be seen in the the Scipy implementation: github.com/scipy/.../test_rotation.py.

This algorithm has been integrated in the following projects:

Little warning:

On the PLOS ONE paper, I am following the convention of real part as the first element (like SymPy, for example.)

In this implementation, I am following SciPy's convention of the real part as the last element.

This means that, for example, a rotation around axis x of angle 90 degrees should be: q = np.asarray([[1/sqrt(2), 0, 0, 1/sqrt(2)]]) Instead of: q = np.asarray([[1/sqrt(2), 1/sqrt(2), 0, 0]])

Owner

Name: Evandro
Login: evbernardes
Kind: user

Repositories: 3
Profile: https://github.com/evbernardes

Citation (CITATION.cff)

message: "If you use this software, please cite it as below."
authors:
  - family-names: Bernardes
    given-names: Evandro
    orcid: https://orcid.org/0000-0001-7239-0878
  - family-names: Viollet
    given-names: Stéphane
    orcid: https://orcid.org/0000-0003-1585-9822
title: "Quaternion to Euler angles conversion: a direct, general and computationally efficient method"
version: 1.0.0
date-released: 2022-04-25

GitHub Events

Total

Issues event: 2
Watch event: 1
Issue comment event: 3
Fork event: 1

Last Year

Issues event: 2
Watch event: 1
Issue comment event: 3
Fork event: 1

Issues and Pull Requests

Last synced: 10 months ago

All Time

Total issues: 1
Total pull requests: 0
Average time to close issues: 15 days
Average time to close pull requests: N/A
Total issue authors: 1
Total pull request authors: 0
Average comments per issue: 1.0
Average comments per pull request: 0
Merged pull requests: 0
Bot issues: 0
Bot pull requests: 0

Past Year

Issues: 1
Pull requests: 0
Average time to close issues: 15 days
Average time to close pull requests: N/A
Issue authors: 1
Pull request authors: 0
Average comments per issue: 1.0
Average comments per pull request: 0
Merged pull requests: 0
Bot issues: 0
Bot pull requests: 0

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