Revision 2ce396a76821d352b608cbcadbb6c57de59620c3 authored by Alec Jacobson on 08 January 2020, 05:26:22 UTC, committed by Alec Jacobson on 08 January 2020, 05:26:22 UTC
1 parent 9d0a7c0
axisangle2quat.m
function Q = axisangle2quat(W,TH)
% AXISANGLE2QUAT Convert axis angle representation of rotation to quaternion
%
% Q = axisangle2quat(W,TH)
%
% Inputs:
% W list of axes, #rotations by 3
% TH list of angles, #rotations by 1
% Outputs:
% Q list of rotations stored as quaternions, one for each control
% #rotations by 4 (1,i,j,k)
%
% Copyright 2011, Alec Jacobson (jacobson@inf.ethz.ch)
%
%
% See:
% http://en.wikipedia.org/wiki/Axis-angle_representation#Unit_Quaternions
Q = [cos(TH/2) W.*repmat(sin(TH/2),1,3)];
Q = Q./repmat(sqrt(sum(Q.^2,2)),1,4);
end
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