convert_orientation()¶

Convert the orientation representation from either Euler angles (roll, pitch, yaw) or quaternion (x, y, z, w) to quaternion format.

Reference¶

Arguments¶

Arguments	Type	Default value	Description
orientation	`dict`		Dictionary representing the orientation. It can contain either Euler angles (roll, pitch, yaw) or quaternion (x, y, z, w).
units	`ANGLE_UNIT`	`ANGLE_UNIT.DEGREES`	The unit for the Euler angles. Default is degrees.

Return¶

Type	Description
`Dict`	the keys are (`x`, `y`, `z` , `w`) and the items are the respective value for the quaternion representation.

Exceptions¶

RayaWrongArgument

See the complete list of arms exceptions

Usage Example¶

...
async def setup(self):
    self.arms: ArmsController = self.enable_controller('arms')

 ...
 async def loop(self):
    orientation= {
        'roll': 90.0,
        'pitch': 90.0
    }
    print(self.arms.convert_orientation(
            orientation=orientation))
...
    self.finish_app()

Output

{'x': 0.5, 'y': 0.5, 'z': -0.5, 'w': 0.5}