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Quaternion: Difference between revisions
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Here <math>\phi</math> is the angle between the two unit quaternions: <math>\cos(\phi) = q_0 \cdot q_1</math>. | Here <math>\phi</math> is the angle between the two unit quaternions: <math>\cos(\phi) = q_0 \cdot q_1</math>. | ||
===Distance Metrics=== | |||
There are multiple ways to calculate the distance between two quaternions. See [https://math.stackexchange.com/questions/90081/quaternion-distance Stackexchange]. | |||
* <math>\theta = \cos^{-1}(2* <q_1, q_2>^2 - 1)</math> | |||
==Spatial Alignment Problem== | ==Spatial Alignment Problem== | ||