Quaternions¶
Note that all these functions work with single quaternions and quaternion vectors, as well as with arrays containing these.
Quaternion class¶
quat.Quaternion
... Quaternion class
Functions for working with quaternions¶
quat.q_conj()
... Conjugate quaternionquat.q_inv()
... Quaternion inversionquat.q_mult()
... Quaternion multiplicationquat.q_scalar()
... Extract the scalar part from a quaternionquat.q_vector()
... Extract the vector part from a quaternionquat.unit_q()
... Extend a quaternion vector to a unit quaternion.
Conversion routines¶
quat.calc_angvel()
... Calculates the velocity in space from quaternionsquat.calc_quat()
... Calculate orientation from a starting orientation and angular velocity.quat.convert()
... Convert quaternion to corresponding rotation matrix or Gibbs vectorquat.deg2quat()
... Convert number or axis angles to quaternion vectorsquat.scale2deg()
... Convert quaternion to corresponding axis angle