concepts.math.rotationlib_xyzw_torch.th_quat_mul#

th_quat_mul(quat1, quat2, *args)[source]#

Multiply two quaternions. The quaternions are represented as 4D vectors, in the form of [x, y, z, w].

Parameters:

quat1 (Tensor) – a tensor of shape (…, 4).
quat2 (Tensor) – a tensor of shape (…, 4).
*args (Tensor) – additional tensors of shape (…, 4).

Returns:

A tensor of shape (…, 4).

Return type: