mult_R

Quaternion.mult_R() → ndarray

Matrix form of a right-sided quaternion multiplication Q.

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

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

Returns:

Q – Matrix form of the right side quaternion multiplication.

Return type:

numpy.ndarray