欧拉角转四元数python代码

以下是Python代码用于将欧拉角转换为四元数：

import math

def euler_to_quaternion(roll, pitch, yaw):
    """
    Convert Euler angles to quaternion
    roll: rotation around X-axis (pitch)
    pitch: rotation around Y-axis (roll)
    yaw: rotation around Z-axis (yaw)
    """
    qx = math.sin(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) - math.cos(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
    qy = math.cos(roll/2) * math.sin(pitch/2) * math.cos(yaw/2) + math.sin(roll/2) * math.cos(pitch/2) * math.sin(yaw/2)
    qz = math.cos(roll/2) * math.cos(pitch/2) * math.sin(yaw/2) - math.sin(roll/2) * math.sin(pitch/2) * math.cos(yaw/2)
    qw = math.cos(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) + math.sin(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)

    return [qx, qy, qz, qw]

其中，roll，pitch和yaw是分别绕X，Y和Z轴的旋转角度。返回四元数列表，其中qx，qy，qz和qw是四元数的四个分量。