(quaternion1, quaternion0)
return numpy.array([
        -x1*x0 - y1*y0 - z1*z0 + w1*w0,
        x1*w0 + y1*z0 - z1*y0 + w1*x0,
        -x1*z0 + y1*w0 + z1*x0 + w1*y0,
        x1*y0 - y1*x0 + z1*w0 + w1*z0], dtype=numpy.float64)
Return multiplication of two quaternions.

    >>> q = quaternion_multiply([4, 1, -2, 3], [8, -5, 6, 7])
    >>> numpy.allclose(q, [28, -44, -14, 48])
    True
Return multiplication of two quaternions.
Return multiplication of two quaternions .
def quaternion_multiply(quaternion1, quaternion0):
    """Return multiplication of two quaternions.

    >>> q = quaternion_multiply([4, 1, -2, 3], [8, -5, 6, 7])
    >>> numpy.allclose(q, [28, -44, -14, 48])
    True

    """
    w0, x0, y0, z0 = quaternion0
    w1, x1, y1, z1 = quaternion1
    return numpy.array([
        -x1*x0 - y1*y0 - z1*z0 + w1*w0,
        x1*w0 + y1*z0 - z1*y0 + w1*x0,
        -x1*z0 + y1*w0 + z1*x0 + w1*y0,
        x1*y0 - y1*x0 + z1*w0 + w1*z0], dtype=numpy.float64)
def quaternion_multiply ( quaternion1 , quaternion0 ) : w0 , x0 , y0 , z0 = quaternion0 w1 , x1 , y1 , z1 = quaternion1 return numpy . array ( [ - x1 * x0 - y1 * y0 - z1 * z0 + w1 * w0 , x1 * w0 + y1 * z0 - z1 * y0 + w1 * x0 , - x1 * z0 + y1 * w0 + z1 * x0 + w1 * y0 , x1 * y0 - y1 * x0 + z1 * w0 + w1 * z0 ] , dtype = numpy . float64 )