from_rotation_matrix

classmethod Quaternion.from_rotation_matrix(rotation_matrix)

Converts a 3x3 rotation matrix to a quaternion. It uses the method described in [1].

Parameters:

rotation_matrix: List or tuple

Rotation matrix defined as a list of lists or a tuple of tuples. The matrix should be 3x3 and orthogonal. The matrix is assumed to be in the form: ((m00, m01, m02), (m10, m11, m12), (m20, m21, m22))

Returns:

Quaternion

The quaternion defined by the rotation matrix.

References

[1] https://doi.org/10.1145/325334.325242 (pp. 245-254)

Examples

>>> from ansys.aedt.core.generic.quaternion import Quaternion
>>> x = (0.7053456158585982, 0.07053456158585963, 0.7053456158585982)
>>> y = (0.19470872568244832, 0.937486456989565, -0.2884573713814046)
>>> z = (-0.681598176590997, 0.34079908829549865, 0.6475182677614472)
>>> rotation_matrix = Quaternion.axis_to_rotation_matrix(x, y, z)
>>> q = Quaternion.from_rotation_matrix(rotation_matrix)
>>> q
Quaternion(0.9069661433330367, -0.17345092325178477, -0.3823030778615049, -0.03422789400943274)