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