def inverse_rotation_matrix(self): return Quaternion.from_rotation_matrix(self.rotation_matrix()).inverse().to_rotation_matrix()
def from_coords(coord_a, coord_b): q1 = Quaternion.from_rotation_matrix( coord_b.rotation_matrix()).inverse() q2 = Quaternion.from_rotation_matrix(coord_a.rotation_matrix()) return Transformation.build(coord_b.origin - coord_a.origin, -q1 * q2)