From 5e7515fd8e5e014b18b9c2c2c8115f1f850eb6b6 Mon Sep 17 00:00:00 2001
From: Alexander Fabisch <alexander.fabisch@dfki.de>
Date: Thu, 28 Sep 2023 11:05:58 +0200
Subject: [PATCH] Link quaternion and rotor functions

---
 pytransform3d/rotations/_quaternion_operations.py | 12 ++++++++++++
 pytransform3d/rotations/_rotors.py                | 15 ++++++++++++++-
 2 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/pytransform3d/rotations/_quaternion_operations.py b/pytransform3d/rotations/_quaternion_operations.py
index 89b358bf6..b6c2b96a6 100644
--- a/pytransform3d/rotations/_quaternion_operations.py
+++ b/pytransform3d/rotations/_quaternion_operations.py
@@ -102,6 +102,10 @@ def concatenate_quaternions(q1, q2):
     -------
     q12 : array-like, shape (4,)
         Quaternion that represents the concatenated rotation q1 * q2
+
+    See Also
+    --------
+    concatenate_rotors : Concatenate rotors, which is the same operation.
     """
     q1 = check_quaternion(q1, unit=False)
     q2 = check_quaternion(q2, unit=False)
@@ -128,6 +132,10 @@ def q_prod_vector(q, v):
     -------
     w : array-like, shape (3,)
         3d vector
+
+    See Also
+    --------
+    rotor_apply : The same operation with a different name.
     """
     q = check_quaternion(q)
     t = 2 * np.cross(q[1:], v)
@@ -150,6 +158,10 @@ def q_conj(q):
     -------
     q_c : array-like, shape (4,)
         Conjugate (w, -x, -y, -z)
+
+    See Also
+    --------
+    rotor_reverse : Reverse of a rotor, which is the same operation.
     """
     q = check_quaternion(q)
     return np.array([q[0], -q[1], -q[2], -q[3]])
diff --git a/pytransform3d/rotations/_rotors.py b/pytransform3d/rotations/_rotors.py
index 5489496f9..bb1786b95 100644
--- a/pytransform3d/rotations/_rotors.py
+++ b/pytransform3d/rotations/_rotors.py
@@ -87,6 +87,10 @@ def rotor_reverse(rotor):
     -------
     reverse_rotor : array, shape (4,)
         Reverse of the rotor: (a, b_yz, b_zx, b_xy)
+
+    See Also
+    --------
+    q_conj : Quaternion conjugate, which is the same operation.
     """
     rotor = check_rotor(rotor)
     return np.hstack(((rotor[0],), -rotor[1:]))
@@ -111,6 +115,11 @@ def concatenate_rotors(rotor1, rotor2):
     -------
     rotor : array, shape (4,)
         rotor1 applied to rotor2: (a, b_yz, b_zx, b_xy)
+
+    See Also
+    --------
+    concatenate_quaternions : Concatenate quaternions, which is the same
+                              operation.
     """
     rotor1 = check_rotor(rotor1)
     rotor2 = check_rotor(rotor2)
@@ -118,7 +127,7 @@ def concatenate_rotors(rotor1, rotor2):
 
 
 def rotor_apply(rotor, v):
-    r"""Compute rotation matrix from rotor.
+    r"""Apply rotor to vector.
 
     .. math::
 
@@ -136,6 +145,10 @@ def rotor_apply(rotor, v):
     -------
     v : array, shape (3,)
         Rotated vector
+
+    See Also
+    --------
+    q_prod_vector : The same operation with a different name.
     """
     rotor = check_rotor(rotor)
     return q_prod_vector(rotor, v)