pytransform3d.rotations.quaternion_xyzw_from_wxyz

pytransform3d.rotations.quaternion_xyzw_from_wxyz(q_wxyz)

Converts from w, x, y, z to x, y, z, w convention.

Parameters:

q_wxyzarray-like, shape (4,)

Quaternion with scalar part before vector part

Returns:

q_xyzwarray, shape (4,)

Quaternion with scalar part after vector part