- The "(w,v) is a unit quaternion" statement is basically telling you that w is the scalar part of the quaternion and v is the vector part of the quaternion, so v / |v| is the rotation Eigen axis. I.e., the statement is generic in nature to tell you what v is in relation to a quaternion and there is no actual w in the code.
- Without seeing the entire code, I cannot be sure what this is. What is t? How did r get calculated? If I were to hazard a guess, I might expect it to be a small angle limiting formula to handle the cases near 0.
how to convert a rotation matrix to a rotation vector
3 views (last 30 days)
Show older comments
In matlab function rodriguesMatrixToVector. There are some confusion I had about the code.
1. in comment: " % r = theta * v / |v|, where (w, v) is a unit quaternion". Where is the variable "w" ?
2. what does this equation from and mean? I didn't get it.
0 Comments
Answers (1)
James Tursa
on 10 May 2020
I can't find the computeRotationVectorForAnglesCloseToPi( ) function. Where is this from?
0 Comments
See Also
Categories
Find more on Quaternion Math in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!