pytransform3d.batch_rotations.batch_quaternion_xyzw_from_wxyz

pytransform3d.batch_rotations.batch_quaternion_xyzw_from_wxyz(Q_wxyz, out=None)

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

Parameters:

Q_wxyzarray-like, shape (…, 4)

Quaternions with scalar part before vector part

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

Output array to which we write the result

Returns:

Q_xyzwarray-like, shape (…, 4)

Quaternions with scalar part after vector part