pytransform3d.rotations.quaternion_integrate¶
- pytransform3d.rotations.quaternion_integrate(Qd, q0=array([1., 0., 0., 0.]), dt=1.0)[source]¶
Integrate angular velocities to quaternions.
Angular velocities are given in global frame and will be left-multiplied to the initial or previous orientation respectively.
- Parameters:
- Qdarray-like, shape (n_steps, 3)
Angular velocities in a compact axis-angle representation. Each angular velocity represents the rotational offset after one unit of time.
- q0array-like, shape (4,), optional (default: [1, 0, 0, 0])
Unit quaternion to represent initial orientation: (w, x, y, z)
- dtfloat, optional (default: 1)
Time interval between steps.
- Returns:
- Qarray-like, shape (n_steps, 4)
Quaternions to represent rotations: (w, x, y, z)
