newton.utils.quat_between_axes

newton.utils.quat_between_axes(*axes)

Compute the rotation between a sequence of axes.

This function returns a quaternion that represents the cumulative rotation through a sequence of axes. For example, for axes (a, b, c), it computes the rotation from a to c by composing the rotation from a to b and b to c.

Parameters:

axes (Axis | Literal['X', 'Y', 'Z'] | ~typing.Literal[0, 1, 2] | int | str) – A sequence of axes, e.g., (‘x’, ‘y’, ‘z’).

Returns:

The total rotation quaternion.

Return type:

quatf