expquat

matrix exponential to convert skew symmetric matrices into quaternions

Syntax

q = expquat(M)
q = expquat(T)
q = expquat(tq)
q = expquat(tq)
q = expquat(tq,q) % exponential map relative to quaternion q

Input

M

skew symmetric matrix ~ element of the Lie algebra

T

skew symmetric rank 2 tensor

tq

vector3d element of the tangential space

a

[a12, a13, a23] matrix entries of the skew symmetric matrix

Output

q

quaternion

See also

quaternion_matrix, Euler, axis2quat, hr2quat