Source code for tbp.monty.frameworks.utils.transform_utils

# Copyright 2025 Thousand Brains Project
# Copyright 2022-2024 Numenta Inc.
#
# Copyright may exist in Contributors' modifications
# and/or contributions to the work.
#
# Use of this source code is governed by the MIT
# license that can be found in the LICENSE file or at
# https://opensource.org/licenses/MIT.

import numpy as np
import quaternion  # noqa: F401 required by numpy-quaternion package


def numpy_to_scipy_quat(quat):
    """Convert from wxyz to xyzw format of quaternions.

    i.e. identity rotation in scipy is (0,0,0,1).

    Args:
        quat: A quaternion in wxyz format

    Returns:
        A quaternion in xyzw format
    """
    new_quat = np.array((quat[1], quat[2], quat[3], quat[0]))

    return new_quat


def scipy_to_numpy_quat(quat: np.ndarray) -> np.quaternion:
    numpy_quat = np.quaternion(quat[3], quat[0], quat[1], quat[2])
    return numpy_quat