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 quaternion
• quat.q_inv() ... Quaternion inversion
• quat.q_mult() ... Quaternion multiplication
• quat.q_scalar() ... Extract the scalar part from a quaternion
• quat.q_vector() ... Extract the vector part from a quaternion
• quat.unit_q() ... Extend a quaternion vector to a unit quaternion.

Conversion routines

• quat.calc_angvel() ... Calculates the velocity in space from quaternions
• quat.calc_quat() ... Calculate orientation from a starting orientation and angular velocity.
• quat.convert() ... Convert quaternion to corresponding rotation matrix or Gibbs vector
• quat.deg2quat() ... Convert number or axis angles to quaternion vectors
• quat.scale2deg() ... Convert quaternion to corresponding axis angle

Details