Mercurial > forge
changeset 8912:d6e0c71521c3 octave-forge
quaternions_oo . Power vectorized to matrices of quaternions.
| author | jpicarbajal |
|---|---|
| date | Mon, 14 Nov 2011 22:35:45 +0000 |
| parents | 07b5897432b0 |
| children | 0177d6f7678e |
| files | extra/quaternion_oo/devel/RV9_Quaternions.txt extra/quaternion_oo/inst/@quaternion/power.m |
| diffstat | 2 files changed, 21 insertions(+), 3 deletions(-) [+] |
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--- a/extra/quaternion_oo/devel/RV9_Quaternions.txt Mon Nov 14 19:13:11 2011 +0000 +++ b/extra/quaternion_oo/devel/RV9_Quaternions.txt Mon Nov 14 22:35:45 2011 +0000 @@ -106,9 +106,9 @@ DONE Q = Quaternion(TH, V) is a unit quaternion corresponding to rotation of TH about the vector V. - Q = Quaternion(R) is a unit quaternion corresponding to the orthonormal rotation matrix R. +DONE Q = Quaternion(R) is a unit quaternion corresponding to the orthonormal rotation matrix R. - Q = Quaternion(T) is a unit quaternion equivalent to the rotational +DONE Q = Quaternion(T) is a unit quaternion equivalent to the rotational = methods = DONE [c] inv return inverse of quaterion
--- a/extra/quaternion_oo/inst/@quaternion/power.m Mon Nov 14 19:13:11 2011 +0000 +++ b/extra/quaternion_oo/inst/@quaternion/power.m Mon Nov 14 22:35:45 2011 +0000 @@ -33,7 +33,8 @@ a.x = -a.x ./ norm2; a.y = -a.y ./ norm2; a.z = -a.z ./ norm2; - else + + elseif isvector (a.w) na = abs (a); th = acos (a.w ./ na); @@ -47,6 +48,23 @@ a.y = n(:,2) .* nab .* snt; a.z = n(:,3) .* nab .* snt; + else + + na = abs (a); + th = acos (a.w ./ na); + nv = sqrt ((a.x).^2 + (a.y).^2 + (a.z).^2); + n.x = a.x ./ nv; + n.y = a.y ./ nv; + n.z = a.z ./ nv; + + nab = na.^b; + a.w = nab .* cos (b.*th); + + snt = sin (b.*th); + a.x = n.x .* nab .* snt; + a.y = n.y .* nab .* snt; + a.z = n.z .* nab .* snt; + endif endfunction