py3dframe.Frame.get_global_quaternion

Frame.get_global_quaternion(*, convention: int | None = None, scalar_first: bool = True) → ndarray

Get the quaternion between the global frame and the frame in the given convention.

Parameters:

• convention (Optional[int], optional) – The convention to express the transformation. It can be an integer between 0 and 7 or a string corresponding to the conventions. Default is the convention of the frame.

• scalar_first (bool, optional) – If True, the quaternion is returned in the scalar first convention. Default is True.

Returns:

The quaternion between the global frame and the frame in the given convention with shape (4,).

Return type:

numpy.ndarray