code: def quat2Pitch(qw, qx, qy, qz):
      '''
      Translates from Quaternion to Pitch. 
  
      @param qw,qx,qy,qz: Quaternion values
  
      @type qw,qx,qy,qz: float
  
      @return Pitch value translated from Quaternion
  
      '''
  
      rotateYa0=-2.0*(qx*qz - qw*qy)
      rotateY=0.0
      if(rotateYa0 >= 1.0):
          rotateY = pi/2.0
      elif(rotateYa0 <= -1.0):
          rotateY = -pi/2.0
      else:
          rotateY = asin(rotateYa0)
  
      return rotatef quat2Pitch(qw, qx, qy, qz):
      '''
      Translates from Quaternion to Pitch. 
  
      @param qw,qx,qy,qz: Quaternion values
  
      @type qw,qx,qy,qz: float
  
      @return Pitch value translated from Quaternion
  
      '''
  
      rotateYa0=-2.0*(qx*qz - qw*qy)
      rotateY=0.0
      if(rotateYa0 >= 1.0):
          rotateY = pi/2.0
      elif(rotateYa0 <= -1.0):
          rotateY = -pi/2.0
      else:
          rotateY = asin(rotateYa0)
  
      return rotateY
docs: Translates from Quaternion to Pitch. 
  
      @param qw,qx,qy,qz: Quaternion values
  
      @type qw,qx,qy,qz: float
  
      @return Pitch value translated from Quaternion