viam.spatialmath.quaternion
===========================

.. py:module:: viam.spatialmath.quaternion


Classes
-------

.. autoapisummary::

   viam.spatialmath.quaternion.Quaternion


Module Contents
---------------

.. py:class:: Quaternion(w: float, i: float, j: float, k: float)

   A quaternion (w, i, j, k) backed by the rust-utils spatialmath FFI.


   .. py:attribute:: __slots__
      :value: ('_handle', '__weakref__')



   .. py:method:: from_imaginary_vector(real: float, imag: viam.spatialmath.vector3.Vector3) -> Quaternion
      :classmethod:



   .. py:property:: w
      :type: float



   .. py:property:: i
      :type: float



   .. py:property:: j
      :type: float



   .. py:property:: k
      :type: float



   .. py:property:: imaginary_vector
      :type: viam.spatialmath.vector3.Vector3



   .. py:method:: __mul__(other: Quaternion) -> Quaternion


   .. py:method:: __add__(other: Quaternion) -> Quaternion


   .. py:method:: __sub__(other: Quaternion) -> Quaternion


   .. py:method:: conjugate() -> Quaternion


   .. py:method:: scaled(factor: float) -> Quaternion


   .. py:method:: normalized() -> Quaternion


   .. py:method:: normalize() -> None

      Normalize this quaternion in place.



   .. py:method:: rotate_vector(v: viam.spatialmath.vector3.Vector3) -> viam.spatialmath.vector3.Vector3


   .. py:method:: from_pose(pose) -> Quaternion
      :classmethod:



   .. py:method:: to_pose(x: float, y: float, z: float)


   .. py:method:: to_orientation_vector()


   .. py:method:: to_euler_angles()


   .. py:method:: to_axis_angle()


   .. py:method:: to_rotation_matrix()


   .. py:method:: __repr__() -> str