pyquaternion_rotation_vector_slerp_interpolation_quickstart.py

1from pyquaternion import Quaternion
2import numpy as np
3
4# Create a quaternion representing a 90 degree rotation about the z-axis
5q1 = Quaternion(axis=[0, 0, 1], degrees=90)
6
7# Create a second quaternion
8q2 = Quaternion(axis=[1, 0, 0], degrees=180)
9
10# Combine rotations (q2 followed by q1)
11q3 = q1 * q2
12
13# Rotate a 3D vector
14v = np.array([1, 0, 0])
15v_rotated = q1.rotate(v)
16
17# Interpolate between two orientations (Slerp)
18# 50% of the way between q1 and q2
19q_interp = Quaternion.slerp(q1, q2, amount=0.5)
20
21print(f"Original vector: {v}")
22print(f"Rotated vector:  {v_rotated}")
23print(f"Interpolated:    {q_interp}")