pytransform3d.rotations.quaternion_diff

pytransform3d.rotations.quaternion_diff(q1, q2)

Compute the rotation in angle-axis format that rotates q2 into q1.

\[(\hat{\boldsymbol{\omega}}, \theta) = \log (q_1 \overline{q_2})\]

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