pytransform3d.rotations.geometric_product#
- pytransform3d.rotations.geometric_product(a, b)[source]#
Geometric product of two vectors.
The geometric product consists of the symmetric inner / dot product and the antisymmetric outer product (see
wedge()) of two vectors.\[ab = a \cdot b + a \wedge b\]The inner product contains the cosine and the outer product contains the sine of the angle of rotation from a to b.
- Parameters:
- aarray-like, shape (3,)
Vector: (x, y, z)
- barray-like, shape (3,)
Vector: (x, y, z)
- Returns:
- abarray, shape (4,)
A multivector (a, b_yz, b_zx, b_xy) composed of scalar and bivector (b_yz, b_zx, b_xy) that form the geometric product of vectors a and b.