Potential issue with Quaternion class about optas HOT 5 CLOSED

The convention is that a transformation is always a post multiplication.
Meaning if you have a transformation q0 followed by q1, then the combined transformation will be q1*q0.
It seems to me that that's what scipy is doing, right?

I don't even understand how it would work correctly if it was otherwise, actually, but i seem to remember that at some point i changed the quaternion multiplication to post multiplication in one of the functions because it was giving the wrong result

from optas.

Here I changed this line a while back to a pre multiplication.
That's what it should be in my perspective:

Indeed, i notice that for the homogeneous transformations you are using a post multiplication like so:

I don't know who that would work, but i also haven't tested it.

from optas.

I guess what ever convention I started with a got working is what I stuck with - I am happy to stick with what we have for now if it's not causing an issue. Happy to close this issue? Can re-open if this becomes a problem.

from optas.

Yeah, my feeling is that we will eventually have to look into it.
But we can reopen it once we ran into problems.

from optas.

Sounds good, closing for now.

from optas.