- #1
nburo
- 33
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Hello everyone.
Here's a unit rotation quaternion :
[tex]q(t) = [cos\frac{\theta(t)}{2} , \hat{u}(t)\cdot sin\frac{\theta(t)}{2}][/tex]
We know that if [tex]\hat{u}(t)[/tex] is constant, then our quaternion's derivative should be :
[tex]\dot{q}(t) = \frac{1}{2}\cdot q_\omega(t)\cdot q(t)[/tex]
But what if [tex]\hat{u}(t)[/tex] wasn't constant? What would it look like? Same thing?
Here's a unit rotation quaternion :
[tex]q(t) = [cos\frac{\theta(t)}{2} , \hat{u}(t)\cdot sin\frac{\theta(t)}{2}][/tex]
We know that if [tex]\hat{u}(t)[/tex] is constant, then our quaternion's derivative should be :
[tex]\dot{q}(t) = \frac{1}{2}\cdot q_\omega(t)\cdot q(t)[/tex]
But what if [tex]\hat{u}(t)[/tex] wasn't constant? What would it look like? Same thing?
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