FastQuat - High-Performance Quaternions with JAX

FastQuat provides optimized quaternion operations with full JAX compatibility, featuring:

🚀 Hardware-accelerated computations (CPU/GPU/TPU)

🔄 Automatic differentiation support

🧩 Seamless integration with JAX transformations (jit, grad, vmap)

📦 Efficient storage using interleaved memory layout

🌐 SLERP interpolation for smooth rotation animations

Quick Start

from fastquat import Quaternion

# Create quaternions
q1 = Quaternion(1.0)  # Identity quaternion
q2 = Quaternion(0.7071, 0.7071, 0.0, 0.0)  # 90° rotation around x-axis

Quaternion Operations

Operation	Syntax	Description
Addition	q1 + q2	Component-wise addition
Subtraction	q1 - q2	Component-wise subtraction
Multiplication	q1 * q2	Hamilton product
Exponentiation	q ** p	Quaternion power
Inverse	1 / q	Multiplicative inverse
Norm	abs(q)	Quaternion magnitude
Normalization	q.normalize()	Unit quaternion
Conjugate	q.conj()	Quaternion conjugate
Rotation	q.rotate_vector(v)	Rotate 3D vector
SLERP	q1.slerp(q2, t)	Spherical interpolation
Log	q.log()	Quaternion logarithm
Exp	q.exp()	Quaternion exponential

User Guide

• Installation
  • Requirements
  • Installing from PyPI
  • Development Installation
  • Verification
• Getting Started
  • Creating Quaternions
  • Basic Operations
  • Vector Rotation
  • Conversion to/from Rotation Matrices
  • Spherical Linear Interpolation (SLERP)
  • JAX Integration
  • Performance Tips
  • Next Steps
• Tutorial Rotations
  • Step 1: Initial Rotation Around X-axis Using JAX Scipy
  • Display
  • Step 2: Create Small Rotation for Spherical Cap
  • Display
  • Mathematical Background
  • Key Insights
• Tutorial SLERP
  • Setup: Define Quaternions and Test Vector
  • Generate SLERP Interpolation
  • Animated Display

API Reference

• Quaternion Class
  • Quaternion
  • Constructor Methods
  • Properties
  • Core Operations
  • Rotation Operations
  • Interpolation
  • Advanced Operations
  • Array Operations
  • Device and Memory

Development

• Development Guide

Indices and tables

• Index

• Module Index

• Search Page