def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
    """Return quaternion from Euler angles and axis sequence.

    ai, aj, ak : Euler's roll, pitch and yaw angles
    axes : One of 24 axis sequences as string or encoded tuple

    >>> q = quaternion_from_euler(1, 2, 3, 'ryxz')
    >>> numpy.allclose(q, [0.435953, 0.310622, -0.718287, 0.444435])
    True

    """
    try:
        firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
    except (AttributeError, KeyError):
        _TUPLE2AXES[axes]  # validation
        firstaxis, parity, repetition, frame = axes

    i = firstaxis + 1
    j = _NEXT_AXIS[i + parity - 1] + 1
    k = _NEXT_AXIS[i - parity] + 1

    if frame:
        ai, ak = ak, ai
    if parity:
        aj = -aj

    ai /= 2.0
    aj /= 2.0
    ak /= 2.0
    ci = math.cos(ai)
    si = math.sin(ai)
    cj = math.cos(aj)
    sj = math.sin(aj)
    ck = math.cos(ak)
    sk = math.sin(ak)
    cc = ci * ck
    cs = ci * sk
    sc = si * ck
    ss = si * sk

    q = numpy.empty((4,))
    if repetition:
        q[0] = cj * (cc - ss)
        q[i] = cj * (cs + sc)
        q[j] = sj * (cc + ss)
        q[k] = sj * (cs - sc)
    else:
        q[0] = cj * cc + sj * ss
        q[i] = cj * sc - sj * cs
        q[j] = cj * ss + sj * cc
        q[k] = cj * cs - sj * sc
    if parity:
        q[j] *= -1.0

    return q
Return quaternion from Euler angles and axis sequence.

    ai, aj, ak : Euler's roll, pitch and yaw angles
    axes : One of 24 axis sequences as string or encoded tuple

    >>> q = quaternion_from_euler(1, 2, 3, 'ryxz')
    >>> numpy.allclose(q, [0.435953, 0.310622, -0.718287, 0.444435])
    True

    
deploy/helpers/transformations.py