random

Quaternion.random() → ndarray

Generate a random quaternion

A mapping in SO(3) is first created and then transformed as explained originally by [Sho92]. It calls the function random_attitudes() with n=1.

Warning

The generated random quaternion is returned as a NumPy array, but it is not set in the object. To create a Quaternion object with random values, we can indicate this when creating the object. See examples below.

Returns:

q – Random array corresponding to a valid quaternion

Return type:

numpy.ndarray

Examples

>>> q = Quaternion()
>>> q
Quaternion([1., 0., 0., 0.])
>>> q.random()
array([-0.13952338,  0.96330741, -0.18034361, -0.14159178])
>>> q
Quaternion([1., 0., 0., 0.])

It can be called when the Quaternion object is created:

>>> Quaternion(random=True)
Quaternion([-0.51862103, -0.23740681,  0.32023593,  0.75638561])

See also

random_attitudes

Generate random attitudes