pytransform3d.rotations.quaternion_integrate

pytransform3d.rotations.quaternion_integrate(Qd, q0=array([1., 0., 0., 0.]), dt=1.0)[source]

Integrate angular velocities to quaternions.

Parameters
Qdarray-like, shape (n_steps, 3)

Angular velocities in a compact axis-angle representation. Each angular velocity represents the rotational offset after one unit of time.

q0array-like, shape (4,), optional (default: [1, 0, 0, 0])

Unit quaternion to represent initial rotation: (w, x, y, z)

dtfloat, optional (default: 1)

Time interval between steps.

Returns
Qarray-like, shape (n_steps, 4)

Quaternions to represent rotations: (w, x, y, z)

Examples using pytransform3d.rotations.quaternion_integrate