warp.quat_rpy

warp.quat_rpy(roll: Float, pitch: Float, yaw: Float) → Quaternion[Float]

• Kernel: true
• Python: true
• Differentiable: true

Return the rotation quaternion for the given roll, pitch, and yaw angles in radians.

The rotations are applied in the order roll, pitch, yaw about the fixed axes (extrinsic x-y-z), which is equivalent to applying yaw, pitch, and then roll about the rotating axes (intrinsic z-y’-x’’).

Parameters:

• roll – Rotation angle about the x axis, in radians.

• pitch – Rotation angle about the y axis, in radians.

• yaw – Rotation angle about the z axis, in radians.

Returns:

The unit quaternion qz * qy * qx, where qx, qy, and qz are the rotations of roll, pitch, and yaw about their axes.

Example

@wp.kernel
def orient(points: wp.array[wp.vec3], out: wp.array[wp.vec3]):
    i = wp.tid()
    # quarter turn about x (roll), then a quarter turn about z (yaw)
    q = wp.quat_rpy(wp.pi / 2.0, 0.0, wp.pi / 2.0)
    out[i] = wp.quat_rotate(q, points[i])

# roll maps (1, 2, 3) to (1, -3, 2), then yaw maps that to (3, 1, 2)
points = wp.array([wp.vec3(1.0, 2.0, 3.0)], dtype=wp.vec3)
out = wp.empty(1, dtype=wp.vec3)
wp.launch(orient, dim=1, inputs=[points], outputs=[out])
print(np.round(out.numpy(), 3))

[[3. 1. 2.]]