def quaternion_multiply(quaternion1, quaternion0):
    x0, y0, z0, w0 = quaternion0
    x1, y1, z1, w1 = quaternion1
    return numpy.array((
         x1*w0 + y1*z0 - z1*y0 + w1*x0,
        -x1*z0 + y1*w0 + z1*x0 + w1*y0,
         x1*y0 - y1*x0 + z1*w0 + w1*z0,
        -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64)
Return multiplication of two quaternions.
dataset/ETHPy150Open omangin/multimodal/multimodal/lib/transformations.py/quaternion_multiply