mult_L¶
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Quaternion.
mult_L
() → numpy.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