四元数

https://quaternions.online/

四元数变欧拉角ZYX

https://blog.csdn.net/u012700322/article/details/52252305

#https://quaternions.online/
#quart_to_rpy.py ZYX
import sys
import math
w = 0.157
x = -0.003
y = -0.937
z = 0.312
alpha = math.atan2(2*(w*x+y*z),1-2*(x*x+y*y))  #X
my = math.asin( 2.0*( w*y - z*x ) )            #Y
angle = math.atan2(2*(w*z+x*y),1-2*(z*z+y*y))  #Z

 

alpha = alpha*180/math.pi
angle = angle*180/math.pi
my = my*180/math.pi

print(alpha)  #X
print(my)     #Y
print(angle)  #Z