Pythonでクォータニオンをz-y-x系オイラー角に変換するコード書いてみた

Writing Code to Convert Quaternions to Z-Y-X Euler Angles in Python I needed to calculate Z-Y-X Euler angles from quaternions. Moreover, the task required me to write the code in Python 2.7, so I couldn't use handy tools like scipy.spatial.transform.Rotation . When I did some research, I found a sample code in C++ on Wikipedia. Wikipedia / Quaternion to Euler Angles Conversion Writing in Python Based on the Wikipedia sample code, I created a code in Python 2.7. import math import numpy as np fro