amep.utils.quaternion_multiply

amep.utils.quaternion_multiply(a: ndarray, b: ndarray)

Calculates the multiplication of two quaternions. Quaternion multiplication is not commutative.

Parameters:

• a (np.ndarray) – 4d quaternion. Shapes (4,) or (N,4,) allowed.

• b (np.ndarray) – 4d quaternion. Shapes (4,) or (N,4,) allowed.

Returns:

Multiplied quaternion. Shapes (4,) or (N,4,) respectively to input.

Return type:

np.ndarray