 [legend]

## Public Member Functions

def __eq__ (self, other)

def __getitem__ (self, index)

def __init__ (self, attitude=[1)

def __mul__ (self, other)

def __str__ (self)

def __truediv__ (self, other)

def close (self, other)

def dcm (self)

def dcm (self, dcm)

def euler (self)

def euler (self, euler)

def inversed (self)

def norm (self)

def normalize (self)

def q (self)

def q (self, q)

def transform (self, v)

## Static Public Member Functions

def norm_array (q)

def normalize_array (q)

dcm

euler

q

## Private Member Functions

def _dcm_to_euler (self, dcm)

def _dcm_to_q (self, dcm)

def _euler_to_dcm (self, euler)

def _euler_to_q (self, euler)

def _mul_array (self, p, q)

def _q_inversed (self, q)

def _q_to_dcm (self, q)

_dcm

_euler

_q

## Detailed Description

```Quaternion class, this is the version which supports numpy arrays
If you need support for Matrix3 look at the Quaternion class

Usage:
>>> from quaternion import QuaternionBase
>>> import numpy as np
>>> print(q)
[ 0.9603483   0.13871646  0.19810763  0.13871646]
>>> print(q.dcm)
[[ 0.88302222 -0.21147065  0.41898917]
[ 0.3213938   0.92303098 -0.21147065]
[-0.34202014  0.3213938   0.88302222]]
>>> q = QuaternionBase([1, 0, 0, 0])
>>> print(q.euler)
[ 0. -0.  0.]
>>> m = [[1, 0, 0], [0, 0, -1], [0, 1, 0]]
>>> q = QuaternionBase(m)
>>> vector = [0, 1, 0]
>>> vector2 = q.transform(vector)
```

Definition at line 20 of file quaternion.py.

## Constructor & Destructor Documentation

 def pymavlink.quaternion.QuaternionBase.__init__ ( self, attitude = `[1` )
```Construct a quaternion from an attitude

:param attitude: another QuaternionBase,
3 element list [roll, pitch, yaw],
4 element list [w, x, y ,z], DCM (3x3 array)
```

Definition at line 45 of file quaternion.py.

## Member Function Documentation

 def pymavlink.quaternion.QuaternionBase.__eq__ ( self, other )
```Equality test (same orientation, not necessarily same rotation)

:param other: a QuaternionBase
:returns: true if the quaternions are equal
```

Definition at line 203 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.__getitem__ ( self, index )
`Returns the quaternion entry at index`

Definition at line 79 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.__mul__ ( self, other )
```:param other: QuaternionBase
:returns: multiplaction of this Quaternion with other
```

Definition at line 227 of file quaternion.py.

`String of quaternion values`

Definition at line 449 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.__truediv__ ( self, other )
```:param other: QuaternionBase
:returns: division of this Quaternion with other
```

Definition at line 241 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._dcm_to_euler ( self, dcm )
private
```Create DCM from euler angles
:param dcm: 3x3 dcm array
:returns: array [roll, pitch, yaw] in rad
```

Definition at line 417 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._dcm_to_q ( self, dcm )
private
```Create q from dcm
Reference:
- Shoemake, Quaternions,
http://www.cs.ucr.edu/~vbz/resources/quatut.pdf

:param dcm: 3x3 dcm array
returns: quaternion array
```

Definition at line 350 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._euler_to_dcm ( self, euler )
private
```Create DCM from euler angles
:param euler: array [roll, pitch, yaw] in rad
:returns: 3x3 dcm array
```

Definition at line 386 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._euler_to_q ( self, euler )
private
```Create q array from euler angles
:param euler: array [roll, pitch, yaw] in rad
:returns: array q which represents a quaternion [w, x, y, z]
```

Definition at line 295 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._mul_array ( self, p, q )
private
```Performs multiplication of the 2 quaterniona arrays p and q
:param p: array of len 4
:param q: array of len 4
:returns: array of len, result of p * q (with p, q quaternions)
```

Definition at line 276 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._q_inversed ( self, q )
private
```Returns inversed quaternion q
:param q: array q which represents a quaternion [w, x, y, z]
:returns: inversed array q which is a quaternion [w, x, y ,z]
```

Definition at line 440 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase._q_to_dcm ( self, q )
private
```Create DCM from q
:param q: array q which represents a quaternion [w, x, y, z]
:returns: 3x3 dcm array
```

Definition at line 322 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.close ( self, other )
```Equality test with tolerance
(same orientation, not necessarily same rotation)

:param other: a QuaternionBase
:returns: true if the quaternions are almost equal
```

Definition at line 214 of file quaternion.py.

```Get the DCM

:returns: 3x3 array
```

Definition at line 130 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.dcm ( self, dcm )
```Set the DCM
:param dcm: 3x3 array```

Definition at line 146 of file quaternion.py.

```Get the euler angles.
The convention is Tait-Bryan (ZY'X'')

:returns: array containing the euler angles [roll, pitch, yaw]
```

Definition at line 97 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.euler ( self, euler )
```Set the euler angles
:param euler: list or array of the euler angles [roll, pitch, yaw]```

Definition at line 115 of file quaternion.py.

```Get inversed quaternion

:returns: inversed quaternion
```

Definition at line 194 of file quaternion.py.

```Returns norm of quaternion

:returns: norm (scalar)
```

Definition at line 181 of file quaternion.py.

static
```Calculate quaternion norm on array q
:param quaternion: array of len 4
:returns: norm (scalar)
```

Definition at line 267 of file quaternion.py.

`Normalizes the quaternion`

Definition at line 189 of file quaternion.py.

static
```Normalizes the list with len 4 so that it can be used as quaternion
:param q: array of len 4
:returns: normalized array
```

Definition at line 255 of file quaternion.py.

```Get the quaternion
:returns: array containing the quaternion elements
```

Definition at line 65 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.q ( self, q )
```Set the quaternion
:param q: list or array of quaternion values [w, x, y, z]
```

Definition at line 84 of file quaternion.py.

 def pymavlink.quaternion.QuaternionBase.transform ( self, v )
```Calculates the vector transformed by this quaternion
:param v: array with len 3 to be transformed
:returns: transformed vector
```

Definition at line 163 of file quaternion.py.

## Member Data Documentation

private

Definition at line 94 of file quaternion.py.

private

Definition at line 93 of file quaternion.py.

private

Definition at line 73 of file quaternion.py.

Definition at line 56 of file quaternion.py.

Definition at line 60 of file quaternion.py.