geometry.rotations.quaternion_from_rotation¶
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geometry.rotations.
quaternion_from_rotation
= <function quaternion_from_rotation>[source]¶ Converts a rotation matrix to a quaternion.
This is the robust method mentioned on wikipedia:
<http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>
TODO: add the more robust method with 4x4 matrix and eigenvector