bispy.utils.sympSplit¶

bispy.utils.sympSplit(q)[source]¶

Splits a quaternion array into two complex arrays.

The decomposition reads:

q = q_1 + i q_2

where q_1, q_2 are complex (1, 1j) numpy arrays

Parameters:

qquaternion numpy array

Returns:

q_1, q_2complex numpy arrays

See also

sympSynth

Examples

>>> q
array([[quaternion(0.3, 0.47, -0.86, -0.42),
        quaternion(0.24, -1.07, -2.11, 0.37),
        quaternion(-0.24, -1.36, -1.14, 1.69)],
       [quaternion(0.4, -0.61, 0.04, -0.03),
        quaternion(-1.58, -1.69, -1.18, -1.02),
        quaternion(0.78, -1.06, -1.05, -0.62)]], dtype=quaternion)
>>> q_1, q_2 = sympSplit(q)
>>> q_1
array([[ 0.30-0.86j,  0.24-2.11j, -0.24-1.14j],
   [ 0.40+0.04j, -1.58-1.18j,  0.78-1.05j]])
>>> q_2
array([[ 0.47-0.42j, -1.07+0.37j, -1.36+1.69j],
   [-0.61-0.03j, -1.69-1.02j, -1.06-0.62j]])