vector qToE(vector4 q_value){
float q_0 = q_value.w ;
float q_1 = q_value.x ;
float q_2 = q_value.y ;
float q_3 = q_value.z ;
vector out = {0,0,0} ;
out.x = atan2(2*(q_0*q_1+q_2*q_3), (1-2*(q_1*q_1+q_2*q_2))) ;
out.y = asin(2*(q_0*q_2-q_3*q_1)) ;
out.z = atan2(2*(q_0*q_3+q_1*q_2), (1-2*(q_2*q_2+q_3*q_3))) ;
return out ;
}