.. _quat-label: Quaternions =========== Note that all these functions work with single quaternions and quaternion vectors, as well as with arrays containing these. Quaternion class ---------------- * :class:`quat.Quaternion` ... Quaternion class, with multiplication, division, and inversion. Functions for working with quaternions -------------------------------------- * :func:`quat.q_conj` ... Conjugate quaternion * :func:`quat.q_inv` ... Quaternion inversion * :func:`quat.q_mult` ... Quaternion multiplication * :func:`quat.q_scalar` ... Extract the scalar part from a quaternion * :func:`quat.q_vector` ... Extract the vector part from a quaternion * :func:`quat.unit_q` ... Extend a quaternion vector to a unit quaternion. Conversion routines ------------------- * :func:`quat.calc_angvel` ... Calculates the velocity in space from quaternions * :func:`quat.calc_quat` ... Calculate orientation from a starting orientation and angular velocity. * :func:`quat.convert` ... Convert quaternion to corresponding rotation matrix or Gibbs vector * :func:`quat.deg2quat` ... Convert number or axis angles to quaternion values * :func:`quat.quat2deg` ... Convert quaternions to corresponding axis angle * :func:`quat.quat2seq` ... Convert quaternions to corresponding rotation angles .. toctree:: :maxdepth: 2 Details ------- .. automodule:: quat :members: