pytransform3d.rotations.mrp_prod_vector

pytransform3d.rotations.mrp_prod_vector(mrp, v)

Apply rotation represented by MRPs to a vector.

To apply the rotation defined by modified Rodrigues parameters \(\boldsymbol{\psi} \in \mathbb{R}^3\) to a vector \(\boldsymbol{v} \in \mathbb{R}^3\), we left-concatenate the original MRPs and then right-concatenate its inverted (negative) version.

Parameters:

mrparray-like, shape (3,)

Modified Rodrigues parameters.

varray-like, shape (3,)

3d vector

Returns:

warray, shape (3,)

3d vector

See also

concatenate_mrp

Concatenates MRPs.

q_prod_vector

The same operation with a quaternion.