Quaternion Conversions, Normalizations, Multiplication - #63
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wlodaralex
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Jul 21, 2026
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| Python code for performing quaternion <-> Euler Angle conversions. | ||
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| Note that quaternion arguments must all be in scalar-last JPL convention, i.e., in the format of [x, y, z, w]. |
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Scipy uses Hamilton convention, as does the math you've implemented. Please update the comments to reflect this.
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Note that this may not be what's expected elsewhere, i.e. the attitude dynamics module and the STR class. Please take a look at those and make sure everything is compatible before you update.
| Python code for performing quaternion <-> Euler Angle conversions. | ||
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| Note that quaternion arguments must all be in scalar-last JPL convention, i.e., in the format of [x, y, z, w]. | ||
| Euler angles must be expressed in the 3-2-1 Euler angle sequence [Yaw, Pitch, Roll]. |
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It's common to use [roll, pitch, yaw]. I believe in our dynamics module we use [omega_x, omega_y, omega_z] which would correspond to this. I would adjust your code accordingly.
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Quaternion to Euler Angle Conversions / Quaternion to Rotation Matrices Conversions / Quaternion Normalization / Quaternion Multiplication