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| File - M006: Quaternions and Spatial Rotation | ||||||||
| Description | ||||||||
| A compact introduction into quaternions and their application for spatial rotations, providing the following contents: * brief introduction into quaternions, their components, notations, and properties * quaternion algebra formulary summarizing basic properties (quaternion equality, hypercomplex conjugate, norm, and inverse), basic operations (quaternion addition and subtraction, multiplication, division, normalization, cross and dot product), the exponential and logarithmic functions (quaternion exponential function, natural logarithm, logarithmic functions, power and root functions) as well as trigonometric and hyperbolic functions of quaternions * application of quaternions in the context of spatial rotations, quaternion rotation operators, rotations and transformations * conversion algorithms: ** Euler Angles to Quaternion (for all 12 possible rotation sequences) ** Quaternion to Euler Angles (for all 12 possible rotation sequences) ** Direction Cosine Matrix (DCM) to Quaternion ** Quaternion to Direction Cosine Matrix (DCM) ** Euler Angles to Rotation Matrix (for all 12 possible rotation sequences) * time derivative of a rotation quaternion * quaternion interpolation algorithms ** linear interpolation (LERP) ** spherical linear interpolation (SLERP) The appendix of this Memorandum also contains the interface and exception documentation for the MATLAB Quaternion Class (supplement to this Memorandum). |
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| Downloads | Views | Developer | Last Update | Version | Size | Type | Rank | |
| 5,438 | 4,221 | Rene Schwarz | Oct 05, 2017 - 13:42 | 2017/10/05 | 214.7KB |  , out of 79 Votes. |
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| File Hash | ||||||||
| MD5: 2f27c927653afd34d086e6b544cc107e · SHA1: 68ee226ff2f9648fa3d2219aa0f266ab2d012849 | ||||||||
| Download Time | ||||||||
| 56Kbit Modem: 32s · 256Kbit: 7s · 1Mbit: 2s · 3Mbit: 1s | ||||||||
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