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

.. currentmodule:: warp._src.lang

.. function:: quat_to_rpy(q: quatf) -> vec3f

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.19/warp/_src/math.py#L221-L256

   Return the roll, pitch, and yaw angles in radians of the rotation ``q``.
   
   This is the inverse of :func:`~warp.quat_rpy`, which applies roll, pitch, and yaw in that order
   about the fixed ``x``, ``y``, and ``z`` axes (extrinsic x-y-z).
   
   Near gimbal lock, where pitch approaches ``pi/2`` or ``-pi/2``, the returned roll and yaw are
   inaccurate and might not reproduce ``q``. ``quat_to_euler(q, 0, 1, 2)`` uses the same
   convention and handles gimbal lock.
   
   :param q: Rotation quaternion, with unit length.
   
   :returns: ``(roll, pitch, yaw)`` in radians, with roll and yaw in ``[-pi, pi]`` and pitch in
             ``[-pi/2, pi/2]``.
   :rtype: warp.vec3