cheta.derived.qrotate

cheta.derived.qrotate(q, r)

Rotate a vector by a quaternion

The input quaternion must have a shape of (4,) or (4, N, ..).

The input vector must have a shape of (3,) or (3, N, ..).

Parameters:

• q – quaternion defining the rotation

• r – vector to be rotated

:returns r rotated by q as an array with the same shape as r