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<div class="subtitle">Description</div>

<p>
Find the (quaternion) multiplicative inverse of unit quaternion(s) <code>q</code>. The input unit quaternions, which must be normalized to one, are given as a 4xN array. The inverse quaternions(s) <code>qinv</code> are returned as a 4xN array.
</p>

<p>
Just as matrix inversion of rotation matrices produces inverse rotations, quaternion inversion of unit quaternions also produces inverse rotations.
</p>

<p>
Note that <