log
(method of quaternion)
project a quaternion into the tangential space
Syntax
v = log(q) % tangential vector as vector3d v = log(q,q_ref) % tangential vector as vector3d M = logMat(q) % return tangential vector as (skew symmetric) matrix
Input
q | |
q_ref |
Output
v |
See also
MTEX 4.5.2 |