pytransform3d.rotations
.quaternion_dist#
- pytransform3d.rotations.quaternion_dist(q1, q2)[source]#
Compute distance between two quaternions.
We use the angular metric of \(S^3\), which is defined as
\[d(q_1, q_2) = \min(|| \log(q_1 * \overline{q_2})||, 2 \pi - || \log(q_1 * \overline{q_2})||)\]- Parameters:
- q1array-like, shape (4,)
First quaternion
- q2array-like, shape (4,)
Second quaternion
- Returns:
- distfloat
Distance between q1 and q2