log edit page

the logarithmic map that translates a rotation into a rotation vector

Syntax

v = log(q) % rotation vector with reference to the identical rotation
v = log(q,q_ref) % rotation vector with reference q_ref
v = loq(q,'right')
v = loq(q,'left')

Input

q quaternion
q_ref quaternion

Output

v vector3d

See also

quaternion.logm vector3d.exp spinTensor.spinTensor