mult_L

Quaternion.mult_L() → ndarray

Matrix form of a left-sided quaternion multiplication Q.

Matrix representation of quaternion product with a left sided quaternion [Sarkka]:

\[\begin{split}\mathbf{qp} = \mathbf{L}(\mathbf{q})\mathbf{p} = \begin{bmatrix} q_w & -q_x & -q_y & -q_z \\ q_x & q_w & -q_z & q_y \\ q_y & q_z & q_w & -q_x \\ q_z & -q_y & q_x & q_w \end{bmatrix} \begin{bmatrix}p_w \\ p_x \\ p_y \\ p_z\end{bmatrix}\end{split}\]

Returns:

Q – Matrix form of the left side quaternion multiplication.

Return type:

numpy.ndarray