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Possible error for quaternion multiplication #7

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DavidBoja opened this issue Sep 18, 2020 · 0 comments

DavidBoja commented Sep 18, 2020 •

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Hi,
not an expert but i believe there might be an error in quaternion multipication in transform_functions.py --> qmul(q, r) function.

w = terms[:, 0, 0] - terms[:, 1, 1] - terms[:, 2, 2] - terms[:, 3, 3]
x = terms[:, 0, 1] + terms[:, 1, 0] - terms[:, 2, 3] + terms[:, 3, 2]
y = terms[:, 0, 2] + terms[:, 1, 3] + terms[:, 2, 0] - terms[:, 3, 1]
z = terms[:, 0, 3] - terms[:, 1, 2] + terms[:, 2, 1] + terms[:, 3, 0]

I believe the terms are correct but the signs are not.
Apologies if i misunderstood the code somehow.

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