def set_quat(self, quat):
"""
Set the orientation of the free-flyer, a.k.a. free-floating or base
frame of the robot.
Parameters
----------
quat : array, shape=(4,)
Quaternion vector (`w`, `x`, `y`, `z`).
"""
self.set_rpy(rpy_from_quat(quat))
def rpy(self):
"""
Roll-pitch-yaw angles.
They correspond to Euleur angles for the sequence (1, 2, 3). See
[Die+06]_ for details.
References
----------
.. [Die+06] James Diebel, "Representing Attitude: Euler Angles, Unit
Quaternions, and Rotation Vectors."
"""
return rpy_from_quat(self.quat)