QuaTorch¶

Quaternions in PyTorch

QuaTorch is a lightweight python package providing Quaternion, a torch.Tensor subclass that represents a Quaternion. It implements common special operations for quaternions such as multiplication, conjugation, inversion, normalization, log, exp, etc. It also supports conversion to/from rotation matrix and axis-angle representation. Convenient utilities are provided together, such as spherical linear interpolation (slerp) and 3D vector rotation.

Installation¶

Install from PyPI (recommended when published) or install in editable/development mode from source:

pip install quatorch

pip install -e .

Quick start¶

Create and use quaternions:

from quatorch import Quaternion

q = Quaternion(1, 0, 0, 0)  # identity quaternion
print(q)

See more examples in the Examples page and the API Reference.

Run tests¶

This project uses pytest. From the repository root run:

uv run --with=. pytest

Development notes¶

Linting and formatting: Ruff is configured for formatting on save in the workspace.
Tests are discovered under test and pytest configuration is in pyproject.toml.

Contributing¶

Contributions are welcome. Please open issues or pull requests on GitHub. Follow the existing code style and add tests for new behavior.

License¶

This project is MIT licensed — see the LICENSE.md file for details.