libera_utils.kernel_maker.add_mechanism_ck_quaternions

libera_utils.kernel_maker.add_mechanism_ck_quaternions(df: DataFrame) → DataFrame

Add CK quaternion columns for whichever Az/El encoder column is present, in place.

Converts the (corrected) encoder angle into per-sample quaternions about the mechanism’s measured axis of rotation (read from the frame kernel), so the generated CK encodes rotation about the true axis rather than a nominal coordinate axis. A no-op when neither encoder column is present (e.g. spacecraft kernels). Returns the same DataFrame.