expquat edit page

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