code: def quat2Yaw(qw, qx, qy, qz):
      '''
      Translates from Quaternion to Yaw. 
  
      @param qw,qx,qy,qz: Quaternion values
  
      @type qw,qx,qy,qz: float
  
      @return Yaw value translated from Quaternion
  
      '''
      rotateZa0=2.0*(qx*qy + qw*qz)
      rotateZa1=qw*qw + qx*qx - qy*qy - qz*qz
      rotateZ=0.0
      if(rotateZa0 != 0.0 and rotateZa1 != 0.0):
          rotateZ=atan2(rotateZa0,rotateZa1)
      return rotatef quat2Yaw(qw, qx, qy, qz):
      '''
      Translates from Quaternion to Yaw. 
  
      @param qw,qx,qy,qz: Quaternion values
  
      @type qw,qx,qy,qz: float
  
      @return Yaw value translated from Quaternion
  
      '''
      rotateZa0=2.0*(qx*qy + qw*qz)
      rotateZa1=qw*qw + qx*qx - qy*qy - qz*qz
      rotateZ=0.0
      if(rotateZa0 != 0.0 and rotateZa1 != 0.0):
          rotateZ=atan2(rotateZa0,rotateZa1)
      return rotateZ
docs: Translates from Quaternion to Yaw. 
  
      @param qw,qx,qy,qz: Quaternion values
  
      @type qw,qx,qy,qz: float
  
      @return Yaw value translated from Quaternion