Convert Quaternion to Scalar Last
SUMMARY
convert_quaternion_to_scalar_last converts a quaternion from scalar-first (wxyz) to scalar-last (xyzw) order.
The Skill
python
quat_xyzw = tfutils.convert_quaternion_to_scalar_last([1, 0, 0, 0])Parameter Configuration
| Parameter | Type | Default | Description |
|---|---|---|---|
quat_wxzy | list | np.ndarray | required | Quaternion in scalar-first (wxyz) order. |
Returns
| Type | Description |
|---|---|
list | np.ndarray | The quaternion in scalar-last (xyzw) order, same container type as the input. |
Raises
| Exception | Condition |
|---|---|
ValueError | quat_wxzy is not a list or np.ndarray. |