unilab.utils.geometry.np_sample_uniform_quaternion

unilab.utils.geometry.np_sample_uniform_quaternion(num_samples)[source]

Sample uniformly random unit quaternions (w-first) via Shoemake (1992).

Returns an (num_samples, 4) array in float64 (leaves any downstream dtype conversion to the caller).

Parameters:

num_samples (int)

Return type:

ndarray