warp.quat\_rpy
==============

.. currentmodule:: warp._src.lang

.. function:: quat_rpy(roll: Float, pitch: Float, yaw: Float) -> Quaternion[Float]

   .. wp-function-tags::
      :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'').
   
   :param roll: Rotation angle about the ``x`` axis, in radians.
   :param pitch: Rotation angle about the ``y`` axis, in radians.
   :param 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.
   
   .. rubric:: Example
   
   .. testcode::
   
       @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))
   
   .. testoutput::
   
       [[3. 1. 2.]]