Provides a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space.
qrot(q, v)
Rotate vector(s) v about the rotation described by quaternion(s) q.
Expects a tensor of shape (, 4) for q and a tensor of shape (, 3) for v,
where denotes any number of dimensions.
Returns a tensor of shape (, 3).
qinverse(q, inplace=False)