numpy_quaternion_array_creation_and_basic_arithmetic_operations.py

1import numpy as np
2import quaternion
3
4# Quaternions are integrated directly into numpy
5# Create a single quaternion
6q1 = np.quaternion(1, 2, 3, 4)
7
8# Create an array of quaternions
9a = np.array([[np.quaternion(1, 2, 3, 4), np.quaternion(5, 6, 7, 8)],
10              [np.quaternion(9, 10, 11, 12), np.quaternion(13, 14, 15, 16)]])
11
12# Standard arithmetic works as expected
13print(q1 * q1)
14print(a + q1)
15print(np.exp(q1))
16
17# Quaternions are also available as a dtype
18b = np.zeros((3, 4), dtype=np.quaternion)
19
20# You can access the components (w, x, y, z) as a view
21# This results in an array of shape (..., 4)
22components = quaternion.as_float_array(a)
23print(components)
24
25# Or convert back to a quaternion array
26c = quaternion.as_quat_array(components)
27print(c)