, degrees=True, out=None, dtype=None)[source]

Get the yaw, pitch, and roll of a quaternion’s orientation relative to the world -Z axis.

You can multiply the quaternion by the inverse of some other one to make the returned values referenced to a local coordinate system.

  • q (tuple, list or ndarray of float) – Quaternion in form [x, y, z, w] where w is real and x, y, z are imaginary components.

  • degrees (bool, optional) – Indicate angles are to be returned in degrees, otherwise they will be returned in radians.

  • out (ndarray) – Optional output array. Must have same shape and dtype as what is expected to be returned by this function of out was not specified.

  • dtype (dtype or str, optional) – Data type for computations can either be ‘float32’ or ‘float64’. If out is specified, the data type of out is used and this argument is ignored. If out is not provided, ‘float64’ is used by default.


Yaw, pitch and roll [yaw, pitch, roll] of quaternion q.

Return type


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