rotation_matrix_from_quaternion()

np.ndarray rotation_matrix_from_quaternion

(

Tuple[float, float, float, float]

quat

)

Convert a unit quaternion to the matrix representing the same rotation.

Parameters

quat	Unit quaternion to convert, in [w, x, y, z] format.

Returns

Rotation matrix corresponding to this quaternion.

See Conversion between quaternions and rotation matrices_.

.. _Conversion between quaternions and rotation matrices: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Rotation_matrices