product_Q4 function

Product of quaternions

Helper function for multiplication of two quaternions. Concatenation of two rotations R1 followed by R2

product_Q4(q1, q2, normalize = FALSE)

Arguments

• q1, q2: two objects of class "quaternion". first rotation R1 expressed by q1 followed by second rotation R2 expressed by q2
• normalize: logical. Whether a quaternion normalization should be applied (TRUE) or not (FALSE, the default).

Returns

object of class "quaternion"

Note

Multiplication is not commutative.