Multiplication of q*v returns a vector.

petercorke · petercorke · commit 570699c1e9e0 · 2008-03-29T11:29:56.000Z
diff --git a/robotics-toolbox-python/robot/Quaternion.py b/robotics-toolbox-python/robot/Quaternion.py
@@ -245,6 +245,7 @@ def __mul__(self, q2):
 
             if q2.shape == (1,3) or q2.shape == (3,1):
                     qr = self * quaternion(q2) * self.inv()
+                    return qr.v;
             else:
                     raise ValueError;
 
