Hello, I have an orientation P1 in a 3D space, represented as a quaternion [w x y z]. Then P1 is rotated using another quaternion (q1) with the formula
P2=q1*P1*q1'
Is there any formula in order to get q1 from P2 and P1?
Thank you.
Hello, I have an orientation P1 in a 3D space, represented as a quaternion [w x y z]. Then P1 is rotated using another quaternion (q1) with the formula
Is there any formula in order to get q1 from P2 and P1? Thank you. 


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I am not sure what the OP means by "orinentation", but if the question is about the rotation of one (unit) vector into another, the axis of such a rotation is the cross product of the two vectors (assumed unit) and the angle is the arccos of the scalar product. You can then read off the quaternion. See: http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation 

