viam.spatialmath.quaternion

Classes

Quaternion

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

Module Contents

class viam.spatialmath.quaternion.Quaternion(w: float, i: float, j: float, k: float)

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

__slots__ = ('_handle', '__weakref__')

classmethod from_imaginary_vector(real: float, imag: viam.spatialmath.vector3.Vector3) → Quaternion

property w: float

property i: float

property j: float

property k: float

property imaginary_vector: viam.spatialmath.vector3.Vector3

__mul__(other: Quaternion) → Quaternion

__add__(other: Quaternion) → Quaternion

__sub__(other: Quaternion) → Quaternion

conjugate() → Quaternion

scaled(factor: float) → Quaternion

normalized() → Quaternion

normalize() → None

Normalize this quaternion in place.

rotate_vector(v: viam.spatialmath.vector3.Vector3) → viam.spatialmath.vector3.Vector3

classmethod from_pose(pose) → Quaternion

to_pose(x: float, y: float, z: float)

to_orientation_vector()

to_euler_angles()

to_axis_angle()

to_rotation_matrix()

__repr__() → str