Correct formula for quaternion_diff

dfki-ric · Oct 31, 2024 · c94dda9 · c94dda9
1 parent 8121f71
commit c94dda9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/pytransform3d/rotations/_quaternions.py b/pytransform3d/rotations/_quaternions.py
@@ -272,7 +272,7 @@ def quaternion_diff(q1, q2):
 
     .. math::
 
-        \omega = 2 \log (q_1 * \overline{q_2})
+        \omega = \log (q_1 \overline{q_2})
 
     Parameters
     ----------