def from_quaternion(cls, quaternion):
"""Construct a rotation transformation` from quaternion coefficients.
Parameters
----------
quaternion : [float, float, float, float] | :class:`compas.geometry.Quaternion`
Four numbers that represents the four coefficient values of a quaternion.
Returns
-------
:class:`compas.geometry.Rotation`
Examples
--------
>>> from compas.geometry import allclose
>>> q1 = [0.945, -0.021, -0.125, 0.303]
>>> R = Rotation.from_quaternion(q1)
>>> q2 = R.quaternion
>>> allclose(q1, q2, tol=1e-3)
True
"""
R = cls()
R.matrix = matrix_from_quaternion(quaternion)
return R
def from_quaternion(cls, quaternion, point=[0, 0, 0]):
"""Construct a frame from a rotation represented by quaternion coefficients.
Parameters
----------
quaternion : :obj:`list` of :obj:`float`
Four numbers that represent the four coefficient values of a quaternion.
point : :obj:`list` of :obj:`float`, optional
The point of the frame.
Defaults to [0, 0, 0].
Returns
-------
Frame
The constructed frame.
Examples
--------
>>> from compas.geometry import Frame
>>> q1 = [0.945, -0.021, -0.125, 0.303]
>>> f = Frame.from_quaternion(q1, point = [1., 1., 1.])
>>> q2 = f.quaternion
>>> allclose(q1, q2, tol=1e-03)
True
"""
R = matrix_from_quaternion(quaternion)
xaxis, yaxis = basis_vectors_from_matrix(R)
return cls(point, xaxis, yaxis)
def test_matrix_from_quaternion():
q1 = [0.945, -0.021, -0.125, 0.303]
R = matrix_from_quaternion(q1)
r = [[0.7853252073134178, -0.5669097811969227, -0.2487521230892197, 0.0],
[0.5774003396942752, 0.8156659006893796, -0.0360275751823359, 0.0],
[0.22332300929163754, -0.11533619742231993, 0.9678968927964832, 0.0],
[0.0, 0.0, 0.0, 1.0]]
assert np.allclose(R, r)
def from_quaternion(cls, quaternion):
"""Calculates a ``Rotation`` from quaternion coefficients.
Args:
quaternion (:obj:`list` of :obj:`float`): Four numbers that
represents the four coefficient values of a quaternion.
Example:
>>> q1 = [0.945, -0.021, -0.125, 0.303]
>>> R = Rotation.from_quaternion(q1)
>>> q2 = R.quaternion
>>> allclose(q1, q2, tol=1e-3)
True
"""
R = matrix_from_quaternion(quaternion)
return cls(R)
def from_quaternion(cls, quaternion):
"""Calculates a ``Rotation`` from quaternion coefficients.
Parameters
----------
quaternion : :class:`Quaternion`
Four numbers that represents the four coefficient values of a 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
"""
R = matrix_from_quaternion(quaternion)
return cls(R)
def from_quaternion(cls, quaternion):
"""Calculates a ``Rotation`` from quaternion coefficients.
Parameters
----------
quaternion : compas.geometry.Quaternion or list
Four numbers that represents the four coefficient values of a quaternion.
Examples
--------
>>> from compas.geometry import allclose
>>> q1 = [0.945, -0.021, -0.125, 0.303]
>>> R = Rotation.from_quaternion(q1)
>>> q2 = R.quaternion
>>> allclose(q1, q2, tol=1e-3)
True
"""
R = cls()
R.matrix = matrix_from_quaternion(quaternion)
return R
def test_quaternion_from_matrix():
q1 = [0.945, -0.021, -0.125, 0.303]
R = matrix_from_quaternion(q1)
q2 = quaternion_from_matrix(R)
assert allclose(q1, q2, tol=1e-03)
