4 ms·
A quaternion encodes uniform scaling + rotation. The logarithm of a quaternion is its axis-angle-nepers form, and vice versa. quat = sqrt( exp( nepers + ra
by xeonmc 1y ago
A quaternion encodes uniform scaling + rotation. The logarithm of a quaternion is its axis-angle-nepers form, and vice versa.
quat = sqrt( exp( nepers + radians * <axis> ) )
So I think with this exponential map, the rest of its calculus can be extended from that.
- srean 1y agoHeard the word 'nepers' after many decades. Are you by any chance an Electrical major ? Thanks for your comment. To be fair, I had not done due diligence before asking. There's a Wikipedia pages on quaternion calculus. Complex analysis (calculus on functions from 2D rotations to 2D rotations) is beautiful -- Once differentiability guarantees infinite differentiability. Wondering what would the analogue of that be for quaternions