pytransform3d.batch_rotations.batch_quaternion_wxyz_from_xyzw

pytransform3d.batch_rotations.batch_quaternion_wxyz_from_xyzw(Q_xyzw, out=None)

Converts from x, y, z, w to w, x, y, z convention.

Parameters:

Q_xyzwarray-like, shape (…, 4)

Quaternions with scalar part after vector part

outarray, shape (…, 4), optional (default: new array)

Output array to which we write the result

Returns:

Q_wxyzarray-like, shape (…, 4)

Quaternions with scalar part before vector part