skrobot.coordinates.math.quaternion_inverse

skrobot.coordinates.math.quaternion_inverse(quaternion)

Return inverse of quaternion.

Parameters:

quaternion (list or numpy.ndarray) – [w, x, y, z]

Returns:

inverse of quaternion – [w, x, y, z]

Return type:

numpy.ndarray

Examples

>>> q0 = random_quaternion()
>>> q1 = quaternion_inverse(q0)
>>> np.allclose(quaternion_multiply(q0, q1), [1, 0, 0, 0])
True