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Martin Dieblich
13 lines
519 B
TeX
13 lines
519 B
TeX
A quaternion can be easily constructed from an axis $\vect u_v$ and an angle $\alpha $ using
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\begin{equation}
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\quat {} = \begin{pmatrix}
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\cos \left( \tfrac \alpha 2 \right) \\
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\sin \left( \tfrac \alpha 2 \right) \vect u_v
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\end{pmatrix} = \begin{pmatrix}
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\cos \left( \tfrac \alpha 2 \right) \\
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\sin \left( \tfrac \alpha 2 \right) u_x \\
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\sin \left( \tfrac \alpha 2 \right) u_y \\
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\sin \left( \tfrac \alpha 2 \right) u_z
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\end{pmatrix}
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\end{equation}
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\inHfile{FLOAT\_QUAT\_OF\_AXIS\_ANGLE(q, uv, an)}{pprz\_algebra\_float} |