rotate

Quaternion.rotate(a: ndarray) → ndarray

Rotate array \(\mathbf{a}\) through quaternion \(\mathbf{q}\).

Parameters:

a (numpy.ndarray) – 3-by-N array to rotate in 3 dimensions, where N is the number of vectors to rotate.

Returns:

a’ – 3-by-N rotated array by current quaternion.

Return type:

numpy.ndarray

Examples

>>> q = Quaternion([-0.00085769, -0.0404217, 0.29184193, -0.47288709])
>>> v = [0.25557699 0.74814091 0.71491841]
>>> q.rotate(v)
array([-0.22481078 -0.99218916 -0.31806219])
>>> A = [[0.18029565, 0.14234782], [0.47473686, 0.38233722], [0.90000689, 0.06117298]]
>>> q.rotate(A)
array([[-0.10633285 -0.16347163]
       [-1.02790041 -0.23738541]
       [-0.00284403 -0.29514739]])