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Rotations: Difference between revisions
→Angle Axis to Matrix
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\mathbf{R} = \mathbf{I} + (\sin\theta)\mathbf{K} + (1-\cos\theta)\mathbf{K}^2 | \mathbf{R} = \mathbf{I} + (\sin\theta)\mathbf{K} + (1-\cos\theta)\mathbf{K}^2 | ||
\end{equation} | \end{equation} | ||
\] | |||
===Angle Axis to Quaternion=== | |||
Based on [http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm] | |||
\[ | |||
\begin{align} | |||
q_x &= k_x * \sin(\theta/2)\\ | |||
q_y &= k_y * \sin(\theta/2)\\ | |||
q_z &= k_z * \sin(\theta/2)\\ | |||
q_w &= \cos(\theta/2) | |||
\end{align} | |||
\] | \] | ||