nucleus.quaternion#

Quaternion

Quaternion objects are used to represent rotation.
class nucleus.quaternion.Quaternion#

Quaternion objects are used to represent rotation.

We use the Hamilton/right-handed quaternion convention, where

i^2 = j^2 = k^2 = ijk = -1

The quaternion represented by the tuple (x, y, z, w) is equal to w + x*i + y*j + z*k.

Parameters:

  • x (float) – The x value.

  • y (float) – The y value.

  • x – The z value.

  • w (float) – The w value.

classmethod from_json(payload)#

Instantiates quaternion object from schematized JSON dict payload.

Parameters:

payload (Dict[str, float]) –

to_payload()#

Serializes quaternion object to schematized JSON dict.

Return type:

dict