def METHOD_NAME(v_from, v_to):
    """Construct the rotor that rotates one vector to another.
    Parameters
    ----------
    v_from : array-like, shape (3,)
        Unit vector (will be normalized internally)
    v_to : array-like, shape (3,)
        Unit vector (will be normalized internally)
    Returns
    -------
    rotor : array, shape (4,)
        Rotor: (a, b_yz, b_zx, b_xy)
    """
    v_from = norm_vector(v_from)
    v_to = norm_vector(v_to)
    cos_angle_p1 = 1.0 + np.dot(v_from, v_to)
    if cos_angle_p1 < eps:
        # There is an infinite number of solutions for the plane of rotation.
        # This solution works with our convention, since the rotation axis is
        # the same as the plane bivector.
        plane = perpendicular_to_vector(v_from)
    else:
        plane = wedge(v_from, v_to)
    multivector = np.hstack(((cos_angle_p1,), plane))
    return norm_vector(multivector)