mdtraj.utils.rotation_matrix_from_quaternion¶
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mdtraj.utils.
rotation_matrix_from_quaternion
(q)¶ Compute a 3x3 rotation matrix from a given quaternion (4-vector).
Parameters: q : np.ndarray, size=(…, 4)
Quaternion or array of quaternions (need not be normalized, zero norm OK)
Returns: Rq : np.ndarray, size=(…, 3, 3)
Orthogonal rotation matrices corresponding to quaternion(s) q. Given, for example, an input shape of (m, 4), Rq will have shape (m, 3, 3).
See also
References
[R7474] http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion Examples
>>> q = np.array([0.1, 0.2, 0.3, -0.4]) >>> Rq = rotation_matrix_from_quaternion(q)