quaternions for python

Update: SciPy now includes scipy.spatial.transform.Rotation which provides excellent quaternion support. See the SciPy documentation.

the situation is pretty problematic, I hope someday scipy will add a python package for rotating and interpolating quaternions, up to now:

• http://cgkit.sourceforge.net/doc2/quat.html : slow, bad interaction with numpy, I could not find a simple way to turn a list of N quaternions to a 4xN array without a loop


• Quaternion package from CXC Harvard (link no longer available) : more lightweight, does not implement quaternion interpolation