warp.quat\_from\_euler
======================

.. currentmodule:: warp._src.lang

.. function:: quat_from_euler(e: vec3f, i: int, j: int, k: int) -> quatf

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.19/warp/_src/math.py#L396-L462

   Return the rotation quaternion for Euler angles in radians and an axis sequence.
   
   The rotations about axes ``i``, ``j``, and ``k`` are applied in that order
   about the fixed axes (extrinsic), which is equivalent to applying them in
   the order ``k``, ``j``, ``i`` about the rotating axes (intrinsic). For
   example, ``quat_from_euler(e, 0, 1, 2)`` equals
   ``quat_rpy(e[0], e[1], e[2])``.
   
   For proper Euler sequences (``i == k``), ``e[i]`` is used for both the
   first and the third rotation.
   
   :param e: Euler angles in radians, indexed by axis, not by sequence position:
             ``e[0]`` is the angle about X, ``e[1]`` about Y, and ``e[2]`` about Z.
   :param i: Index of the first axis, in ``{0, 1, 2}``.
   :param j: Index of the second axis, in ``{0, 1, 2}`` and different from ``i``.
   :param k: Index of the third axis, in ``{0, 1, 2}`` and different from ``j``.
   
   :returns: Unit quaternion ``qk * qj * qi``, where ``qi`` is the rotation
             of ``e[i]`` about axis ``i``, and similarly for ``qj`` and ``qk``.
   :rtype: warp.quat