Quaternion: Difference between revisions

Quaternion (view source)

97 bytes added , 16 October 2020

5,337

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 <math>R(q*p) = R(q) \cdot R(p)</math>
-The quaternion <math>q=(\cos(\theta/2), \hat{n}_1 \sin(\theta/2), \hat{n}_2 \sin(\theta/2), \hat{n}_3 \sin(\theta/2))</math> is equivalent to the rotation around axis <math>\hat{n}</math> by angle <math>\theta</math>.
+The quaternion <math>q=(\cos(\frac{\theta}{2}), \hat{n}_1 \sin(\frac{\theta}{2}), \hat{n}_2 \sin(\frac{\theta}{2}), \hat{n}_3 \sin(\frac{\theta}{2}))=\cos(\frac{\theta}{2}) + \sin(\frac{\theta}{2}) \mathbf{\hat{n}}</math> is equivalent to the rotation around axis <math>\hat{n}</math> by angle <math>\theta</math>.
 ===Slurp===