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Fix implementation of Quaternion.vec_xyzs #30

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Merged
petercorke merged 1 commit into from
Nov 2, 2021
Merged

Fix implementation of Quaternion.vec_xyzs #30

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6 changes: 3 additions & 3 deletions spatialmath/quaternion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -240,7 +240,7 @@ def vec_xyzs(self):
:return: quaternion expressed as a 4-vector
:rtype: numpy ndarray, shape=(4,)

``q.vec`` is the quaternion as a vector. If `len(q)` is:
``q.vec_xyzs`` is the quaternion as a vector. If `len(q)` is:

- 1, return a NumPy array shape=(4,)
- N>1, return a NumPy array shape=(N,4).
Expand All @@ -258,9 +258,9 @@ def vec_xyzs(self):
>>> Quaternion([np.r_[1,2,3,4], np.r_[5,6,7,8]]).vec_xyzs
"""
if len(self) == 1:
return self._A
return np.roll(self._A, -1)
else:
return np.array([q._A for q in self])
return np.array([np.roll(q._A, -1) for q in self])

@property
def matrix(self):
Expand Down