I want to find out by much angle each quaternion is moving and if its rotating in the same direction ( clockwise / anti-clockwise)
Right now, I am doing the following to calculate the rotation but I am not sure if its correct.
def quaternion_angle(q1, q2):
dot_product = np.dot(q1, q2)
# Ensure dot product is within -1 and 1 for arccos
dot_product = np.clip(dot_product, -1.0, 1.0)
return np.arccos(dot_product) * 2 * 180/np.pi # convert to degrees