def quaternion(self):
"""Returns the Quaternion from the ``Rotation``.
Returns
-------
:class:`Quaternion`
Examples
--------
>>> q1 = [0.945, -0.021, -0.125, 0.303]
>>> R = Rotation.from_quaternion(q1)
>>> q2 = R.quaternion
>>> allclose(q1, q2, tol=1e-3)
True
"""
from compas.geometry.primitives import Quaternion
return Quaternion(*quaternion_from_matrix(self.matrix))
def quaternion(self):
""":class:`compas.geometry.Quaternion` : The quaternion from the rotation given by the frame.
"""
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Quaternion(*quaternion_from_matrix(R))
def quaternion(self):
""":class:`Quaternion` : The quaternion from the rotation given by the frame.
"""
rotation = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Quaternion(*quaternion_from_matrix(rotation))
def quaternion(self):
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Quaternion(*quaternion_from_matrix(R))