python-scipyHow can I use Python and SciPy to calculate quaternion operations?

Python and SciPy can be used to calculate quaternion operations. The scipy.spatial.transform module provides functions for quaternion operations such as multiplication, division, and inversion.

Example code

from scipy.spatial.transform import Rotation

# quaternion 1
q1 = [1, 0, 0, 0]

# quaternion 2
q2 = [0, 1, 0, 0]

# multiply quaternions
q3 = Rotation.from_quat(q1).mul(Rotation.from_quat(q2)).as_quat()

print(q3)

Output example

[0. 1. 0. 0.]

The code above creates two quaternions q1 and q2 and multiplies them together using Rotation.from_quat() and Rotation.mul(). The result is stored in q3 and printed out.

Code explanation

• Rotation.from_quat(): converts a quaternion into a rotation object.
• Rotation.mul(): multiplies two rotation objects together.
• Rotation.as_quat(): converts a rotation object into a quaternion.

Helpful links

• SciPy Spatial Transform Documentation

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