pytransform3d.rotations
.concatenate_quaternions¶
- pytransform3d.rotations.concatenate_quaternions(q1, q2)[source]¶
Concatenate two quaternions.
We use Hamilton’s quaternion multiplication.
Suppose we want to apply two extrinsic rotations given by quaternions q1 and q2 to a vector v. We can either apply q2 to v and then q1 to the result or we can concatenate q1 and q2 and apply the result to v.
- Parameters:
- q1array-like, shape (4,)
First quaternion
- q2array-like, shape (4,)
Second quaternion
- Returns:
- q12array-like, shape (4,)
Quaternion that represents the concatenated rotation q1 * q2
See also
concatenate_rotors
Concatenate rotors, which is the same operation.