python 四元数转欧拉角RPY

def euler_from_quaternion(quaternion):
    import math
    x, y, z, w = quaternion[0], quaternion[1], quaternion[2], quaternion[3]
    t0 = +2.0 * (w * x + y * z)
    t1 = +1.0 - 2.0 * (x * x + y * y)
    roll_x = math.atan2(t0, t1)

    t2 = +2.0 * (w * y - z * x)
    t2 = +1.0 if t2 > +1.0 else t2
    t2 = -1.0 if t2 < -1.0 else t2
    pitch_y = math.asin(t2)

    t3 = +2.0 * (w * z + x * y)
    t4 = +1.0 - 2.0 * (y * y + z * z)
    roll_z = math.atan2(t3, t4)

    return roll_x, pitch_y, roll_z