quaternion rotations

quaternions/Makefile

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+
+
+
+all:
+	python qq.py
+
+
+
+
+# Make runs a shell for each line so below is more a reminder. Run this from the terminal! not Make!
+p_env:
+	python3 -m venv venv && source ./venv/bin/activate &&  python3 -m pip install numpy-quaternion
+
+
+

quaternions/qq.py

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+import numpy as np
+import quaternion
+
+
+
+# Create a quaternion: 1 + 2i + 3j + 4k
+q1 = np.quaternion(1, 2, 0, 0)
+q2 = np.quaternion(2, 1, 0, 0)
+print(f"Quaternion q1:{q1} q2:{q2}")
+mq = q1 * q2
+print("Quaternion mq:", mq)
+
+q1 = np.quaternion(1, 1, 0, 0)
+q2 = np.quaternion(2, 0, 1, 0)
+print(f"Quaternion q1:{q1} q2:{q2}")
+mq = q1 * q2
+print("Quaternion mq:", mq)
+
+q3 = np.quaternion(1,1,0,0)
+q4 = 1/q3
+
+print(f"Quaternion q3:{q3} q4:{q4}")
+
+q5 = np.quaternion(0,1,1,0)
+q6 = 1/q5
+
+print(f"Quaternion q5:{q5} q6:{q6}")
+
+
+# Rotation quaternion (example: 90-degree rotation around the z-axis)
+angle = np.pi / 2  # 90 degrees in radians
+rotation_q = np.quaternion(np.cos(angle / 2), 0, 0, np.sin(angle / 2))
+
+q7 = np.quaternion(0,1,2,3)
+q8 =   rotation_q * q7
+q9 =   q8 * rotation_q.conj()
+print(f"q7:{q7}\nq8:{q8}\nq9:{q9}")
+
+
+q10 =  rotation_q * q7 * rotation_q.conj() # rotate in one line
+print(f" q10 {q10} ")
+