- pytransform3d.batch_rotations.batch_concatenate_quaternions(Q1, Q2, out=None)¶
Concatenate two batches of quaternions.
We use Hamilton’s quaternion multiplication.
Suppose we want to apply two extrinsic rotations given by quaternions q1 and q2 to a vector v. We can either apply q2 to v and then q1 to the result or we can concatenate q1 and q2 and apply the result to v.
- Q1array-like, shape (…, 4)
First batch of quaternions
- Q2array-like, shape (…, 4)
Second batch of quaternions
- outarray, shape (…, 4), optional (default: new array)
Output array to which we write the result
- Q12array, shape (…, 4)
Batch of quaternions that represents the concatenated rotations
If the input dimensions are incorrect