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.