parameters: (a, b)
return_statement: return sympy.Matrix([[x, -u2, u1, u0],
                               [u2, x, -u0, u1],
                               [-u1, u0, x, u2],
                               [-u0, -u1, -u2, x]])
docstring: derivatice of quaternion muliplication wrt right multiplicand b
docstring_summary: derivatice of quaternion muliplication wrt right multiplicand b
docstring_tokens: derivatice of quaternion muliplication wrt right multiplicand b
function: def Db_a_mul_b(a, b):
          """ derivatice of quaternion muliplication wrt right multiplicand b """
          u0 = a.vec[0]
          u1 = a.vec[1]
          u2 = a.vec[2]
          x = a.real
          return sympy.Matrix([[x, -u2, u1, u0],
                               [u2, x, -u0, u1],
                               [-u1, u0, x, u2],
                               [-u0, -u1, -u2, x]])
function_tokens: def Db_a_mul_b ( a , b ) : u0 = a . vec [ 0 ] u1 = a . vec [ 1 ] u2 = a . vec [ 2 ] x = a . real return sympy . Matrix ( [ [ x , - u2 , u1 , u0 ] , [ u2 , x , - u0 , u1 ] , [ - u1 , u0 , x , u2 ] , [ - u0 , - u1 , - u2 , x ] ] )