GRID Docs | General Robotics

from grid_types import Orientation

A class to represent the orientation as a quaternion

Fields

float

x component of quaternion

float

y component of quaternion

float

z component of quaternion

float

w component of quaternion (scalar) Can be initialized with either quaternion components or Euler angles

Constructor

Signature

Orientation(
    x: Union[float, int, np.ndarray, list],
    y: Union[float, int] = None,
    z: Union[float, int] = None,
    w: Optional[Union[float, int]] = None,
)

Initialize an Orientation object. This constructor supports multiple initialization methods:

Using quaternion components (x, y, z, w)
Using Euler angles (roll, pitch, yaw) where the first three arguments are interpreted as roll, pitch, and yaw respectively
Using a rotation matrix (3x3 numpy array or list)
Using a quaternion array (4-element list or numpy array)

required

x component of quaternion, roll angle, rotation matrix, or quaternion array

y component of quaternion or pitch angle. Ignored when x is an array.

z component of quaternion or yaw angle. Ignored when x is an array.

w component of quaternion. When None, x, y, z are interpreted as Euler angles.

Methods

`conjugate()`

Signature

conjugate() -> Orientation

Return the conjugate of the quaternion (-x, -y, -z, w). For a unit quaternion, the conjugate is its inverse. Returns: Orientation: New orientation representing the conjugate.

`from_dict()`

Signature

from_dict(data: dict) -> Orientation

Deserialize from dictionary

`normalize()`

Signature

normalize() -> Orientation

Return a normalized version of this quaternion Returns: Orientation: New orientation with normalized quaternion components

`to_axis_angle()`

Signature

to_axis_angle(degrees: bool = False) -> np.ndarray

Convert quaternion to axis-angle representation.

default:"False"

If True, the angle is returned in degrees. Defaults to False.

Returns: np.ndarray: 3 dimensional vector which is co-directional to the axis of rotation and whose norm gives the angle of rotation.

`to_dict()`

Signature

to_dict() -> dict

Serialize to dictionary for JSON transfer

`to_euler()`

Signature

to_euler(order: str = 'xyz') -> Tuple[float, float, float]

Convert quaternion to Euler angles.

default:"'xyz'"

Order of rotations. Defaults to “xyz”. Supported orders include “xyz”, “zyx”, “yzx”, etc.

Returns: tuple[float, float, float]: Tuple of (roll, pitch, yaw) in radians.

`to_matrix()`

Signature

to_matrix() -> np.ndarray

Convert quaternion to a rotation matrix Returns: np.ndarray: 3x3 rotation matrix

Example

orientation = Orientation(x, y, z, w)
orientation = Orientation(roll, pitch, yaw)

​Fields

​Constructor

​Methods

​conjugate()

​from_dict()

​normalize()

​to_axis_angle()

​to_dict()

​to_euler()

​to_matrix()

​Example

Fields

Constructor

Methods

`conjugate()`

`from_dict()`

`normalize()`

`to_axis_angle()`

`to_dict()`

`to_euler()`

`to_matrix()`

Example