Get a orientation Quaternion from two 3d vectors

quaternion_from_vectors.py

def normalize(v):
    norm = np.linalg.norm(v)
    if norm == 0:
        return v
    return v / norm

# http://stackoverflow.com/questions/17044296/quaternion-rotation-without-euler-angles

def quaternion_from_vectors(v0, v1):
    if type(v0) == Point():
        v0 = [v0.x, v0.y, v0.z]
    if type(v1) == Point():
        v1 = [v1.x, v1.y, v1.z]

    v0 = normalize(v0)
    v1 = normalize(v1)
#     inline QuaternionT<T> QuaternionT<T>::CreateFromVectors(const Vector3<T>& v0, const Vector3<T>& v1)
# {
#
#     Vector3<T> c = v0.Cross(v1);
    c = np.cross(v0, v1)
#     T d = v0.Dot(v1);
    d = np.dot(v0, v1)
#     T s = std::sqrt((1 + d) * 2);
    try:
        s = math.sqrt((1.0 + d) * 2)
    except ValueError:
        s = 0.0
    if s == 0.0:
        # print "s == 0.0, we cant compute"
        return [0.0, 0.0, 0.0, 1.0]
#
#     QuaternionT<T> q;
    q = [0.0, 0.0, 0.0, 0.0]
#     q.x = c.x / s;
    q[0] = c[0] / s
#     q.y = c.y / s;
    q[1] = c[1] / s
#     q.z = c.z / s;
    q[2] = c[2] / s
#     q.w = s / 2.0f;
    q[3] = s / 2.0
#     return q;
    return q
# }