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

quaternion

q_ref

quaternion

Output

v

vector3d

See also

expquat