concepts.math.frame_utils_xyzw.compute_ee_quat_from_directions#
- compute_ee_quat_from_directions(u, v, default_quat=(0, 1, 0, 0))[source]#
Compute the quaternion from two directions (the “down” direction for the end effector and the “forward” direction for the end effector).
- Parameters:
u (Tuple[float, float, float] | List[float] | ndarray) – the “down” direction for the end effector.
v (Tuple[float, float, float] | List[float] | ndarray) – the “forward” direction for the end effector.
default_quat (Tuple[float, float, float, float] | List[float] | ndarray) – the default quaternion to be multiplied. This is the quaternion that represents the rotation for the default end effector orientation, facing downwards and the forward direction is along the x-axis.
- Return type: