Module Import alias identifier ClassDef bases NameLoad body Expr Str FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults Num Num Num Num NameLoad body Assign AttributeStore NameLoad attr Call NameLoad NameLoad Assign TupleStore AttributeStore NameLoad attr AttributeStore NameLoad attr AttributeStore NameLoad attr TupleLoad Call NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad If NameLoad body Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Return BinOpMod Str TupleLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Str Return Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore BinOpAdd BinOpAdd BinOpAdd BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num Return BinOpPow NameLoad Num decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr If UnaryOpNot NameLoad body Raise Call NameLoad Str AugAssignDiv AttributeStore NameLoad attr NameLoad AugAssignDiv AttributeStore NameLoad attr NameLoad AugAssignDiv AttributeStore NameLoad attr NameLoad AugAssignDiv AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr AugAssignMult AttributeStore NameLoad attr Num AugAssignMult AttributeStore NameLoad attr Num AugAssignMult AttributeStore NameLoad attr Num Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore BinOpPow Call AttributeLoad NameLoad attr Num AugAssignDiv AttributeStore NameLoad attr NameLoad AugAssignDiv AttributeStore NameLoad attr NameLoad AugAssignDiv AttributeStore NameLoad attr NameLoad AugAssignDiv AttributeStore NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore BinOpAdd BinOpAdd BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr BinOpDiv BinOpMult BinOpMult NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpDiv BinOpMult BinOpMult NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpDiv BinOpMult BinOpMult NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore BinOpAdd BinOpAdd BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num Assign NameStore BinOpDiv AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr BinOpDiv BinOpMult BinOpMult Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpDiv BinOpMult BinOpMult Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpDiv BinOpMult BinOpMult Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr AugAssignAdd AttributeStore NameLoad attr AttributeLoad NameLoad attr AugAssignAdd AttributeStore NameLoad attr AttributeLoad NameLoad attr AugAssignAdd AttributeStore NameLoad attr AttributeLoad NameLoad attr AugAssignAdd AttributeStore NameLoad attr AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr AugAssignSub AttributeStore NameLoad attr AttributeLoad NameLoad attr AugAssignSub AttributeStore NameLoad attr AttributeLoad NameLoad attr AugAssignSub AttributeStore NameLoad attr AttributeLoad NameLoad attr AugAssignSub AttributeStore NameLoad attr AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call NameLoad Assign NameStore NameLoad Assign AttributeStore NameLoad attr BinOpSub BinOpSub BinOpSub BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr BinOpSub BinOpAdd BinOpAdd BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr BinOpSub BinOpAdd BinOpAdd BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr BinOpSub BinOpAdd BinOpAdd BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr BinOpMult AttributeLoad NameLoad attr AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call NameLoad Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore BinOpMult BinOpMult NameLoad NameLoad NameLoad Return TupleLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr TupleLoad Num Num keyword AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore NameStore NameStore TupleLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpAdd BinOpMult Num BinOpAdd BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Num Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpMult UnaryOpUAdd Num BinOpAdd BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpMult UnaryOpUAdd Num BinOpSub BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpMult UnaryOpUAdd Num BinOpSub BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpAdd BinOpMult Num BinOpAdd BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Num Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpMult UnaryOpUAdd Num BinOpAdd BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpMult UnaryOpUAdd Num BinOpAdd BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpMult UnaryOpUAdd Num BinOpSub BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index TupleLoad Num Num BinOpAdd BinOpMult Num BinOpAdd BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad Num Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Assign SubscriptStore NameLoad Index TupleLoad Num Num Num Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore BinOpMult Num Call AttributeLoad NameLoad attr Call NameLoad Call NameLoad AttributeLoad NameLoad attr Num Num Assign NameStore BinOpPow BinOpAdd BinOpAdd BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num BinOpPow AttributeLoad NameLoad attr Num Num If NameLoad body Assign NameStore BinOpDiv AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpDiv AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpDiv AttributeLoad NameLoad attr NameLoad orelse Assign TupleStore NameStore NameStore NameStore TupleLoad Num Num Num Return TupleLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults NameLoad body Expr Str If NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad While CompareLt NameLoad Num body AugAssignAdd NameStore BinOpMult AttributeLoad NameLoad attr Num Assign NameStore BinOpDiv NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return Call NameLoad Call AttributeLoad NameLoad attr NameLoad BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad decorator_list NameLoad FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults NameLoad body Expr Str If NameLoad body Assign TupleStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr ListLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Num Num Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Num Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Num Num Return BinOpMult BinOpMult NameLoad NameLoad NameLoad decorator_list NameLoad decorator_list
N/A N/A numpy np Quaternion N/A object N/A N/A  Quaternion(w=1, x=0, y=0, z=0, normalize=True)
    
    A quaternion is a mathematically convenient way to
    describe rotations.
    
     __init__ N/A N/A self w x y z normalize N/A 1 0 0 0 True N/A N/A N/A self w N/A float w N/A N/A N/A self x N/A self y N/A self z N/A N/A float x N/A float y N/A float z N/A normalize N/A N/A N/A N/A self _normalize N/A __repr__ N/A N/A self N/A N/A N/A N/A <Quaternion object %1.3g + %1.3gi + %1.3gj + %1.3gk> N/A N/A self w N/A self x N/A self y N/A self z N/A copy N/A N/A self N/A N/A N/A  Create an exact copy of this quaternion. 
         N/A N/A Quaternion N/A self w N/A self x N/A self y N/A self z False N/A norm N/A N/A self N/A N/A N/A  Returns the norm of the quaternion
        
        norm = w**2 + x**2 + y**2 + z**2
         N/A tmp N/A N/A N/A N/A N/A self w 2 N/A N/A self x 2 N/A N/A self y 2 N/A N/A self z 2 N/A N/A tmp 0.5 N/A _normalize N/A N/A self N/A N/A N/A  Make the quaternion unit length.
         N/A L N/A N/A self norm N/A N/A L N/A N/A N/A ValueError Quaternion cannot have 0-length. N/A N/A self w L N/A N/A self x L N/A N/A self y L N/A N/A self z L N/A normalize N/A N/A self N/A N/A N/A  Returns a normalized (unit length) version of the quaternion.
         N/A new N/A N/A self copy N/A N/A N/A new _normalize N/A new N/A conjugate N/A N/A self N/A N/A N/A  Obtain the conjugate of the quaternion.
        
        This is simply the same quaternion but with the sign of the
        imaginary (vector) parts reversed.
         N/A new N/A N/A self copy N/A N/A new x -1 N/A N/A new y -1 N/A N/A new z -1 N/A new N/A inverse N/A N/A self N/A N/A N/A  returns q.conjugate()/q.norm()**2
        
        So if the quaternion is unit length, it is the same
        as the conjugate.
         N/A new N/A N/A self conjugate N/A tmp N/A N/A N/A self norm 2 N/A N/A new w tmp N/A N/A new x tmp N/A N/A new y tmp N/A N/A new z tmp N/A new N/A exp N/A N/A self N/A N/A N/A  Returns the exponent of the quaternion. 
        (not tested)
         N/A vecNorm N/A N/A N/A N/A self x 2 N/A N/A self y 2 N/A N/A self z 2 N/A wPart N/A N/A np exp N/A self w N/A q N/A Quaternion N/A N/A q w N/A wPart N/A N/A np cos vecNorm N/A N/A q x N/A N/A N/A wPart N/A self x N/A N/A np sin vecNorm vecNorm N/A N/A q y N/A N/A N/A wPart N/A self y N/A N/A np sin vecNorm vecNorm N/A N/A q z N/A N/A N/A wPart N/A self z N/A N/A np sin vecNorm vecNorm N/A q N/A log N/A N/A self N/A N/A N/A  Returns the natural logarithm of the quaternion. 
        (not tested)
         N/A norm N/A N/A self norm N/A vecNorm N/A N/A N/A N/A self x 2 N/A N/A self y 2 N/A N/A self z 2 N/A tmp N/A N/A self w norm N/A q N/A Quaternion N/A N/A q w N/A N/A np log norm N/A N/A q x N/A N/A N/A N/A N/A np log norm N/A self x N/A N/A np arccos tmp vecNorm N/A N/A q y N/A N/A N/A N/A N/A np log norm N/A self y N/A N/A np arccos tmp vecNorm N/A N/A q z N/A N/A N/A N/A N/A np log norm N/A self z N/A N/A np arccos tmp vecNorm N/A q N/A __add__ N/A N/A self q N/A N/A N/A  Add quaternions.  N/A new N/A N/A self copy N/A N/A new w N/A q w N/A N/A new x N/A q x N/A N/A new y N/A q y N/A N/A new z N/A q z N/A new N/A __sub__ N/A N/A self q N/A N/A N/A  Subtract quaternions.  N/A new N/A N/A self copy N/A N/A new w N/A q w N/A N/A new x N/A q x N/A N/A new y N/A q y N/A N/A new z N/A q z N/A new N/A __mul__ N/A N/A self q2 N/A N/A N/A  Multiply two quaternions.  N/A new N/A Quaternion N/A q1 self N/A N/A new w N/A N/A N/A N/A N/A q1 w N/A q2 w N/A N/A q1 x N/A q2 x N/A N/A q1 y N/A q2 y N/A N/A q1 z N/A q2 z N/A N/A new x N/A N/A N/A N/A N/A q1 w N/A q2 x N/A N/A q1 x N/A q2 w N/A N/A q1 y N/A q2 z N/A N/A q1 z N/A q2 y N/A N/A new y N/A N/A N/A N/A N/A q1 w N/A q2 y N/A N/A q1 y N/A q2 w N/A N/A q1 z N/A q2 x N/A N/A q1 x N/A q2 z N/A N/A new z N/A N/A N/A N/A N/A q1 w N/A q2 z N/A N/A q1 z N/A q2 w N/A N/A q1 x N/A q2 y N/A N/A q1 y N/A q2 x N/A new N/A rotate_point N/A N/A self p N/A N/A N/A  Rotate a Point instance using this quaternion.
         N/A p N/A Quaternion 0 N/A p N/A 0 N/A p N/A 1 N/A p N/A 2 False N/A q1 N/A N/A self normalize N/A q2 N/A N/A self inverse N/A r N/A N/A q1 p q2 N/A N/A N/A r x N/A r y N/A r z N/A get_matrix N/A N/A self N/A N/A N/A  Create a 4x4 homography matrix that represents the rotation
        of the quaternion.
         N/A a N/A N/A np zeros N/A 4 4 dtype N/A np float32 N/A N/A w x y z N/A N/A self w N/A self x N/A self y N/A self z N/A N/A a N/A N/A 0 0 N/A N/A -2.0 N/A N/A y y N/A z z 1.0 N/A N/A a N/A N/A 1 0 N/A N/A 2.0 N/A N/A x y N/A z w N/A N/A a N/A N/A 2 0 N/A N/A 2.0 N/A N/A x z N/A y w N/A N/A a N/A N/A 3 0 0.0 N/A N/A a N/A N/A 0 1 N/A N/A 2.0 N/A N/A x y N/A z w N/A N/A a N/A N/A 1 1 N/A N/A -2.0 N/A N/A x x N/A z z 1.0 N/A N/A a N/A N/A 2 1 N/A N/A 2.0 N/A N/A z y N/A x w N/A N/A a N/A N/A 3 1 0.0 N/A N/A a N/A N/A 0 2 N/A N/A 2.0 N/A N/A x z N/A y w N/A N/A a N/A N/A 1 2 N/A N/A 2.0 N/A N/A y z N/A x w N/A N/A a N/A N/A 2 2 N/A N/A -2.0 N/A N/A x x N/A y y 1.0 N/A N/A a N/A N/A 3 2 0.0 N/A N/A a N/A N/A 0 3 0.0 N/A N/A a N/A N/A 1 3 0.0 N/A N/A a N/A N/A 2 3 0.0 N/A N/A a N/A N/A 3 3 1.0 N/A a N/A get_axis_angle N/A N/A self N/A N/A N/A  Get the axis-angle representation of the quaternion. 
        (The angle is in radians)
         N/A angle N/A 2 N/A N/A np arccos N/A max N/A min N/A self w 1.0 -1.0 N/A scale N/A N/A N/A N/A N/A self x 2 N/A N/A self y 2 N/A N/A self z 2 0.5 N/A scale N/A N/A ax N/A N/A self x scale N/A ay N/A N/A self y scale N/A az N/A N/A self z scale N/A N/A N/A ax ay az N/A 1 0 0 N/A N/A angle ax ay az N/A create_from_axis_angle N/A N/A cls angle ax ay az degrees N/A False N/A N/A  Classmethod to create a quaternion from an axis-angle representation. 
        (angle should be in radians).
         N/A degrees N/A N/A angle N/A N/A np radians angle N/A N/A angle 0 N/A N/A angle N/A N/A np pi 2 N/A angle2 N/A angle 2.0 N/A sinang2 N/A N/A np sin angle2 N/A N/A Quaternion N/A N/A np cos angle2 N/A ax sinang2 N/A ay sinang2 N/A az sinang2 N/A classmethod create_from_euler_angles N/A N/A cls rx ry rz degrees N/A False N/A N/A  Classmethod to create a quaternion given the euler angles.
         N/A degrees N/A N/A N/A rx ry rz N/A N/A np radians N/A rx ry rz N/A qx N/A Quaternion N/A N/A np cos N/A rx 2 0 0 N/A N/A np sin N/A rx 2 N/A qy N/A Quaternion N/A N/A np cos N/A ry 2 0 N/A N/A np sin N/A ry 2 0 N/A qz N/A Quaternion N/A N/A np cos N/A rz 2 N/A N/A np sin N/A rz 2 0 0 N/A N/A N/A qx qy qz N/A classmethod N/A