quaternion_multiply
- compas.geometry.quaternion_multiply(r, q)[source]
Multiplies two quaternions.
- Parameters
r (list) – Quaternion as a list of four real values
[rw, rx, ry, rz]
.q (list) – Quaternion as a list of four real values
[qw, qx, qy, qz]
.
- Returns
list – 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