Function from_euler_angles

pub fn from_euler_angles<T>(
    rt: RotationType,
    rs: RotationSequence,
    angles: Vector3<T>,
) -> Quaternion<T>
where
    T: Float + FloatConst,

Convert euler angles to versor.

The type of rotation (Intrinsic or Extrinsic) is specified by RotationType enum, and the rotation sequence (XZX, XYZ, …) is specified by RotationSequence enum.

Each element of angles should be specified in the range: [-2π, 2π].

Sequences: angles[0] —> angles[1] —> angles[2]

Examples

use quaternion_core::{RotationType::*, RotationSequence::XYZ};
 
let angles = [PI/6.0, 1.6*PI, -PI/4.0];
let v = [1.0, 0.5, -0.4];
 
// Quaternions representing rotation around each axis.
let x = from_axis_angle([1.0, 0.0, 0.0], angles[0]);
let y = from_axis_angle([0.0, 1.0, 0.0], angles[1]);
let z = from_axis_angle([0.0, 0.0, 1.0], angles[2]);
 
// ---- Intrinsic (X-Y-Z) ---- //
// These represent the same rotation.
let q_in = mul( mul(x, y), z );
let e2q_in = from_euler_angles(Intrinsic, XYZ, angles);
// Confirmation
let a_in = point_rotation(q_in, v);
let b_in = point_rotation(e2q_in, v);
assert!( (a_in[0] - b_in[0]).abs() < 1e-12 );
assert!( (a_in[1] - b_in[1]).abs() < 1e-12 );
assert!( (a_in[2] - b_in[2]).abs() < 1e-12 );
 
// ---- Extrinsic (X-Y-Z) ---- //
// These represent the same rotation.
let q_ex = mul( mul(z, y), x );
let e2q_ex = from_euler_angles(Extrinsic, XYZ, angles);
// Confirmation
let a_ex = point_rotation(q_ex, v);
let b_ex = point_rotation(e2q_ex, v);
assert!( (a_ex[0] - b_ex[0]).abs() < 1e-12 );
assert!( (a_ex[1] - b_ex[1]).abs() < 1e-12 );
assert!( (a_ex[2] - b_ex[2]).abs() < 1e-12 );