quaternion_multiply
- compas.geometry.quaternion_multiply(r, q)[source]
Multiplies two quaternions.
- Parameters
r ([float, float, float, float] |
compas.geometry.Quaternion) – Quaternion or sequence of four floats[w, x, y, z].q ([float, float, float, float] |
compas.geometry.Quaternion) – Quaternion or sequence of four floats[w, x, y, z].
- Returns
[float, float, float, float] – Quaternion \(p = rq\) as a list of four real values
[pw, px, py, pz].
Notes
Multiplication of two quaternions \(p = rq\) can be interpreted as applying rotation \(r\) to an orientation \(q\), provided that both \(r\) and \(q\) are unit-length. The result is also unit-length. Multiplication of quaternions is not commutative!
References
Quaternion: http://mathworld.wolfram.com/Quaternion.html