ctrlutils.far_quaternion

ctrlutils.far_quaternion(*args, **kwargs)

Overloaded function.

1. far_quaternion(quat: Eigen::Quaternion<double, 0>, quat_reference: Eigen::Quaternion<double, 0>) -> Eigen::Quaternion<double, 0>

   Computes the quaternion for the given orientation that is farther from the reference quaternion.

   Args:

   quat: Quaternion representing the desired orientation. quat_ref: Reference quaternion.

   Returns:

   The quaternion that represents the same orientation as quat but has a negative dot product with quat_ref.

   See also

   C++: :ctrlutils:`ctrl_utils::FarQuaternion`.

2. far_quaternion(ori: numpy.ndarray[numpy.float64[3, 3], flags.f_contiguous], quat_reference: Eigen::Quaternion<double, 0>) -> Eigen::Quaternion<double, 0>

   Computes the quaternion for the given orientation that is farther from the reference quaternion.

   Args:

   quat: Quaternion representing the desired orientation. quat_ref: Reference quaternion.

   Returns:

   The quaternion that represents the same orientation as quat but has a negative dot product with quat_ref.

   See also

   C++: :ctrlutils:`ctrl_utils::FarQuaternion`.