code: def qeuler(yaw, pitch, roll):
      
      yaw = np.radians(yaw)
      pitch = np.radians(pitch)
      roll = np.radians(roll)
  
      cy = np.cos(yaw * 0.5)
      sy = np.sin(yaw * 0.5)
      cr = np.cos(roll * 0.5)
      sr = np.sin(roll * 0.5)
      cp = np.cos(pitch * 0.5)
      sp = np.sin(pitch * 0.5)
  
      q = np.array((
          cy * cr * cp + sy * sr * sp, cy * sr * cp - sy * cr * sp,
          cy * cr * sp + sy * sr * cp, sy * cr * cp - cy * sr * sp
      ))
      return q
docs: Convert Euler angle to quaternion.
  
      Parameters
      ----------
      yaw: number
      pitch: number
      roll: number
  
      Returns
      -------
      np.array