skrobot.coordinates.math.quaternion_multiply

skrobot.coordinates.math.quaternion_multiply(quaternion1, quaternion0)

Return multiplication of two quaternions.

Parameters:

• quaternion0 (list or numpy.ndarray) – [w, x, y, z]

• quaternion1 (list or numpy.ndarray) – [w, x, y, z]

Returns:

quaternion – [w, x, y, z]

Return type:

numpy.ndarray

Examples

>>> q = quaternion_multiply([4, 1, -2, 3], [8, -5, 6, 7])
>>> numpy.allclose(q, [28, -44, -14, 48])
True