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    "info": {
        "author": "Matias Gra\u00f1a, Enrique Toomey, Slava Kerner",
        "author_email": "matias@satellogic.com",
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        "classifiers": [
            "Development Status :: 4 - Beta",
            "Environment :: Console",
            "Intended Audience :: Science/Research",
            "Operating System :: OS Independent",
            "Programming Language :: Python",
            "Topic :: Software Development :: Libraries :: Python Modules",
            "Topic :: Utilities"
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        "description": "Quaternions library\n===================\n\n[![Coverage Status](https://coveralls.io/repos/github/satellogic/quaternions/badge.svg)](https://coveralls.io/github/satellogic/quaternions)\n[![Build Status](https://travis-ci.org/satellogic/quaternions.svg?branch=add_travis_ci)](https://travis-ci.org/satellogic/quaternions)\n\nThis is a library for dealing with quaternions in python in a unified way.\n\nTo install it:\n\n```bash\n$ pip install satellogic_quaternions\n```\n\nExamples of code:\n\n```python\nIn [1]: from quaternions import Quaternion\n\nIn [2]: q1 = Quaternion(1, 2, 3, 4)\n\nIn [3]: q2 = Quaternion(2, 3, 5, 8)\n\nIn [4]: q1 + q2\nOut[4]: Quaternion(3, 5, 8, 12)\n\nIn [5]: q1 * q2\nOut[5]: Quaternion(-51, 3, 15, 15)\n\nIn [6]: q1 / q2\nOut[6]: Quaternion(0.53921568627450989, 0.049019607843137247, -0.029411764705882353, 0.0098039215686274439)\n\nIn [7]: print(q1)\n(1+2i+3j+4k)\n```\n\n~~Most of~~ all the quaternions we use are unitary (not like the example above)\n\n```python\nIn [8]: q1.is_unitary()\nOut[8]: False\n\nIn [9]: q1 / q1.norm()\nOut[9]: Quaternion(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143)\n\nIn [10]: q1 /= q1.norm()\n\nIn [11]: q1.is_unitary()\nOut[11]: True\n```\n\nUsually, quaternions are used for rotating vectors. This is done with `numpy`:\n```python\nIn [12]: q1.matrix\nOut[12]:\narray([[-0.66666667,  0.66666667,  0.33333333],\n       [ 0.13333333, -0.33333333,  0.93333333],\n       [ 0.73333333,  0.66666667,  0.13333333]])\n\nIn [14]: q1.matrix.dot([2, 3, -4])\nOut[14]: array([-0.66666667, -4.46666667,  2.93333333])\n\nIn [16]: q1.matrix.dot([1, 0, 0])\nOut[16]: array([-0.66666667,  0.13333333,  0.73333333])\n```\n\nA unitary quaternion matrix is unitary. The inverse is the transpose and it is also the\nmatrix of the inverse quaternion. And the inverse quaternion of a unitary quaternion is\nthe conjugate:\n\n```python\nIn [17]: q1.conjugate()\nOut[17]: Quaternion(0.18257418583505536, -0.36514837167011072, -0.54772255750516607, -0.73029674334022143)\n\nIn [18]: q1\nOut[18]: Quaternion(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143)\n\nIn [19]: q1 * q1.conjugate()\nOut[19]: Quaternion(0.99999999999999978, 0.0, 0.0, 0.0)\n\nIn [20]: q1.conjugate().matrix\nOut[20]:\narray([[-0.66666667,  0.13333333,  0.73333333],\n       [ 0.66666667, -0.33333333,  0.66666667],\n       [ 0.33333333,  0.93333333,  0.13333333]])\n```\n\nLicense\n=======\n\nquaternions is Satellogic SA Copyright 2017. All our code is GPLv3 licensed.\n\n\n",
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