openalea.phenomenal.calibration.transformations.quaternion_inverse

openalea.phenomenal.calibration.transformations.quaternion_inverse(quaternion)

Return inverse of quaternion.

>>> q0 = random_quaternion()
>>> q1 = quaternion_inverse(q0)
>>> numpy.allclose(quaternion_multiply(q0, q1), [1, 0, 0, 0])
True