View page source

warp.quat_to_rpy#

warp.quat_to_rpy(q: quatf) → vec3f#

  • Kernel

  • Differentiable

Convert a quaternion to roll-pitch-yaw angles (ZYX convention).

The output is (roll, pitch, yaw) in radians using extrinsic rotations about X, Y, and Z respectively.

Parameters:

q – Input quaternion in (x, y, z, w) order.

Returns:

(roll, pitch, yaw) in radians.

Return type:

wp.vec3