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+          <h1>Source code for dicee.models.static_funcs</h1><div class="highlight"><pre>
+<span></span><span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Tuple</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+
+<div class="viewcode-block" id="quaternion_mul">
+<a class="viewcode-back" href="../../../dicee.models.html#dicee.models.static_funcs.quaternion_mul">[docs]</a>
+<span class="k">def</span> <span class="nf">quaternion_mul</span><span class="p">(</span><span class="o">*</span><span class="p">,</span> <span class="n">Q_1</span><span class="p">,</span> <span class="n">Q_2</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Perform quaternion multiplication</span>
+<span class="sd">    :param Q_1:</span>
+<span class="sd">    :param Q_2:</span>
+<span class="sd">    :return:</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">a_h</span><span class="p">,</span> <span class="n">b_h</span><span class="p">,</span> <span class="n">c_h</span><span class="p">,</span> <span class="n">d_h</span> <span class="o">=</span> <span class="n">Q_1</span>
+    <span class="n">a_r</span><span class="p">,</span> <span class="n">b_r</span><span class="p">,</span> <span class="n">c_r</span><span class="p">,</span> <span class="n">d_r</span> <span class="o">=</span> <span class="n">Q_2</span>
+    <span class="n">r_val</span> <span class="o">=</span> <span class="n">a_h</span> <span class="o">*</span> <span class="n">a_r</span> <span class="o">-</span> <span class="n">b_h</span> <span class="o">*</span> <span class="n">b_r</span> <span class="o">-</span> <span class="n">c_h</span> <span class="o">*</span> <span class="n">c_r</span> <span class="o">-</span> <span class="n">d_h</span> <span class="o">*</span> <span class="n">d_r</span>
+    <span class="n">i_val</span> <span class="o">=</span> <span class="n">a_h</span> <span class="o">*</span> <span class="n">b_r</span> <span class="o">+</span> <span class="n">b_h</span> <span class="o">*</span> <span class="n">a_r</span> <span class="o">+</span> <span class="n">c_h</span> <span class="o">*</span> <span class="n">d_r</span> <span class="o">-</span> <span class="n">d_h</span> <span class="o">*</span> <span class="n">c_r</span>
+    <span class="n">j_val</span> <span class="o">=</span> <span class="n">a_h</span> <span class="o">*</span> <span class="n">c_r</span> <span class="o">-</span> <span class="n">b_h</span> <span class="o">*</span> <span class="n">d_r</span> <span class="o">+</span> <span class="n">c_h</span> <span class="o">*</span> <span class="n">a_r</span> <span class="o">+</span> <span class="n">d_h</span> <span class="o">*</span> <span class="n">b_r</span>
+    <span class="n">k_val</span> <span class="o">=</span> <span class="n">a_h</span> <span class="o">*</span> <span class="n">d_r</span> <span class="o">+</span> <span class="n">b_h</span> <span class="o">*</span> <span class="n">c_r</span> <span class="o">-</span> <span class="n">c_h</span> <span class="o">*</span> <span class="n">b_r</span> <span class="o">+</span> <span class="n">d_h</span> <span class="o">*</span> <span class="n">a_r</span>
+    <span class="k">return</span> <span class="n">r_val</span><span class="p">,</span> <span class="n">i_val</span><span class="p">,</span> <span class="n">j_val</span><span class="p">,</span> <span class="n">k_val</span></div>
+
+</pre></div>
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