skrobot.coordinates.math.wxyz2xyzw

skrobot.coordinates.math.wxyz2xyzw(quat)

Convert quaternion [w, x, y, z] to [x, y, z, w] order.

Parameters:

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

Returns:

quaternion – quaternion [x, y, z, w]

Return type:

numpy.ndarray

Examples

>>> from skrobot.coordinates.math import wxyz2xyzw
>>> wxyz2xyzw([1, 2, 3, 4])
array([2, 3, 4, 1])