python 四元数 转 欧拉角

  import sys import math w = -0.99114048481 x = -0.00530699081719 y = 0.00178255140781 z = -0.133612662554 r = math.atan2(2*(w*x+y*z),1-2*(x*x+y*y)) p = math.asin(2*(w*y-z*z)) y = math.atan2(2*(w*z+x*y),1-2*(z*z+y*y)) angleR = r*180/math.pi angleP = p*180/math.pi angleY = y*180/math.pi print (angleR)#翻滚 print (angleP)#俯仰 print (angleY)#偏航 输出： 0.575472843396 -2.24876083545 15.3574378019