transformations.py 文件源码

def quaternion_inverse(quaternion):
    """Return inverse of quaternion.

    >>> q0 = random_quaternion()
    >>> q1 = quaternion_inverse(q0)
    >>> numpy.allclose(quaternion_multiply(q0, q1), [1, 0, 0, 0])
    True

    """
    q = numpy.array(quaternion, dtype=numpy.float64, copy=True)
    numpy.negative(q[1:], q[1:])
    return q / numpy.dot(q, q)