warp.transform\_get\_rotation
=============================

.. currentmodule:: warp._src.lang

.. function:: transform_get_rotation(xform: Transformation[Float]) -> Quaternion[Float]

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true

   Return the rotation component of ``xform`` (``xform.q``).
   
   The quaternion is returned as stored, in ``(x, y, z, w)`` order, without normalization.
   
   :param xform: Transformation to read from.
   
   :returns: The rotation from components 3 through 6 of ``xform``, as a quaternion of the same scalar
             type as ``xform``.
   
   See :func:`~warp.transform_get_translation` for a usage example.