mdtraj.utils.rotation_matrix_from_quaternion¶
- mdtraj.utils.rotation_matrix_from_quaternion(q)[source]¶
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 – Orthogonal rotation matrices corresponding to quaternion(s) q. Given, for example, an input shape of (m, 4), Rq will have shape (m, 3, 3).
- Return type:
np.ndarray, size=(…, 3, 3)
Examples
>>> q = np.array([0.1, 0.2, 0.3, -0.4]) >>> Rq = rotation_matrix_from_quaternion(q)
See also
References