def world_euler_angles(self):
""" World rotation in euler angle representation as Vector of length 3.
Internally quaternions are used. The used rotation order is YZX.
.. seealso:: Please have a look at the :ref:`rotations` section for more details.
"""
return quaternion_to_euler_angles(self.world_quaternion)
def test_quaternion_to_euler_4(self):
q = Quaternion([1, 0, 0, 0])
e = quaternion_to_euler_angles(q)
np.testing.assert_almost_equal(np.array(e), np.array([180., 0., 0.]))
def test_quaternion_to_euler_5(self):
q = Quaternion([0.3711136, 0.0742227, 0.519559, 0.7660444])
e = quaternion_to_euler_angles(q)
np.testing.assert_almost_equal(np.array(e), np.array([69.4060045, -31.1935729, 58.3315948]), decimal=5)
def test_quaternion_to_euler_2(self):
q = Quaternion([0, 0, 1, 0])
e = quaternion_to_euler_angles(q)
# Rotation [180, 180, 0] and [0,0,180] are the same thing.
np.testing.assert_almost_equal(np.array(e), np.array([180., 180., 0.]))