pytransform3d.rotations
.quaternion_diff#
- pytransform3d.rotations.quaternion_diff(q1, q2)[source]#
Compute the rotation in angle-axis format that rotates q2 into q1.
\[\omega = 2 \log (q_1 * \overline{q_2})\]- Parameters:
- q1array-like, shape (4,)
First quaternion
- q2array-line, shape (4,)
Second quaternion
- Returns:
- aarray, shape (4,)
The rotation in angle-axis format that rotates q2 into q1