product_Q4 {tectonicr}

Product of quaternions

Description

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

Usage

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).

Value

object of class "quaternion"

Note

Multiplication is not commutative.