py3dframe.FrameTransform.get_quaternion#
- FrameTransform.get_quaternion(*, convention=None, scalar_first=True)[source]#
Get the quaternion representation of the rotation between the input frame and the output frame in a specified convention.
- Parameters:
convention (Optional[int], optional) – Integer in
[0, 7]selecting the convention to express the transformation between the input frame and the output frame. Default is the convention of the transformation.scalar_first (bool, optional) – If True, the quaternion will be in the scalar-first convention. Default is True.
- Returns:
The quaternion between the input frame and the output frame in the specified convention with shape (4,).
- Return type: