@classmethod
def init_3d_from_quaternion(cls, q):
    """
        Convenience constructor for 3D rotations based on quaternion parameters.

        Parameters
        ----------
        q : ``(4,)`` `ndarray`
            The quaternion parameters.

        Returns
        -------
        rotation : :map:`Rotation`
            A 3D rotation transform.
        """
    r = cls.init_identity(n_dims=3)
    return r.from_vector(q)
