def vector_rotated_by_quaternion_reversed(v: Vector3r, q: Quaternionr) -> Vector3r:
# NOTE we could have used q.conjugate(), if we assumed q was a unit quaternion
return vector_rotated_by_quaternion(v, q.inverse())
def quaternion_that_rotates_orientation(
from_orientation: Quaternionr,
to_orientation: Quaternionr,
) -> Quaternionr:
""" Returns the quaternion that rotates `from_orientation` into `to_orientation`. """
return to_orientation * from_orientation.inverse()
