def quatDivR(q1, q2): return quatMult(q1, quatInv(q2))
def rollPitchYaw2Quat(rpy): return sm.quatInv(tf.transformations.quaternion_from_euler(rpy[0], rpy[1], rpy[2], 'rxyz'))
def quatDivL(q1, q2): return quatMult(quatInv(q2), q1)
def quat2RollPitchYaw(quat): return tf.transformations.euler_from_quaternion(sm.quatInv(quat), 'rxyz')
def qinv(q): return sm.quatInv(q)
def qinv(q): return asrl.quatInv(q)