Re: [eigen] Quaternion toRotationMatrix |

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*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] Quaternion toRotationMatrix*From*: Gabriel <gnuetzi@xxxxxxxxx>*Date*: Wed, 30 Sep 2015 18:44:21 +0200*Dkim-signature*: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20120113; h=subject:to:references:from:message-id:date:user-agent:mime-version :in-reply-to:content-type; bh=hxSS8l7AXzH6l9i9mYPKMzrznEyxA2oNGxfX2wgHL68=; b=FE2sm02OKjYVYzGnqPdE1D+gxJEgB94rd/jUHcxqt5ulyiRawPTLy3X6mhzwY+SbvG MxtC9S0bJ8a+1MeJRKNfTN/Rd23a73MHge6DcEJv+C/YJDDf1W1vZCok5L/f7qPJ/XSz XGA/lIyU3aHezdIOcpviCT2AYI5quyeUZQtbOJLYJqMl3WgNA7sVWNxHMN2InwNXeczE y72KQLhk0WWno/6plNN0PSV5UN0WJiRjMoNjF8g+SHkssGLIScgrLY/GGf8jQTipM8KX sVMR697G3We2PuX9KNxMas18lMQIG29IMme0AgDnGIndUrmZ8hdRx7PlFndv+pnmTGKM Wo+A==

Hehe, thanks, ok, there is already lots of discussion about this... Hm, is there already any consense? What is prefered? I liked the so far implementation, also because a quaternion handled by numerics never stays really unit, and the user can normalize when ever he wants... OK, so sofar Quaternion rotation is implementet like christoph stated ( DEFAULT), so to clarify the behavior in discussed
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=560
Summary ( s = squarenorm of quaternion q) :http://snag.gy/J6rDH.jpg rotate (DEFAULT
== EQUATION 1.110):
res = q*[0;v]*q.inverse() = 1/s * q*[0;v]*q.conj(); // what Michael and many others want (ALWAYS A ROTATION even IF non-unit) rotateAndScale:that
is exactly equation 1.112res = q*[0;v]*q.conj() = s * q*[0;v]*q.inverse() // cf Bug 459 ( IF non-unit -> rotation with scale s, IF unit -> only rotation) rotateAssumeUnity:that is exactly equation 1.112 and the same as rotateAndScaleres = q*[0;v]*q.conj(); so the quaternion rotation operation so far in eigen3 is always a
rotation no matter if normalized or not.... Gabriel On 09/30/2015 06:14 PM, Christoph
Hertzberg wrote:
This is basically what was suggested here: |

**References**:**[eigen] 3.3-alpha1 released!***From:*Gael Guennebaud

**Re: [eigen] 3.3-alpha1 released!***From:*Sergiu Dotenco

**Re: [eigen] 3.3-alpha1 released!***From:*Gael Guennebaud

**[eigen] Quaternion toRotationMatrix***From:*Gabriel

**Re: [eigen] Quaternion toRotationMatrix***From:*Christoph Hertzberg

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