pyquaternion library

[mharms]

Just curious, is there any particular reason that you coded the quaternion conversions directly, rather than use the pyquaternion library? (Perhaps it didn't exist at the time that you first wrote your script?)
http://kieranwynn.github.io/pyquaternion/
https://github.com/KieranWynn/pyquaternion

[mdtisdall]

This code was a straight port of what we do in C inside the sequence, so I didn't actually spend too long looking for python libraries that would do it better. Definitely looks like we should switch this over to using pyquaternion though; thanks for the suggestion.