unilab.utils.rotation.np_quat_from_angle_axis

unilab.utils.rotation.np_quat_from_angle_axis(angle, axis)[source]

Convert axis-angle pairs to unit quaternions (N, 4), w-first.

angle has shape (N,) and axis has shape (N, 3); axes are normalized internally. Inverse of np_quat_to_axis_angle().

Parameters:
Return type:

ndarray