A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve
نویسندگان
چکیده
This paper presents a compact diierential formula for the rst derivative of a unit quaternion curve deened on SO(3) or S 3. The formula provides a convenient way to compute the angular velocity of a rotating 3D solid. We demonstrate the eeectiveness of this formula by deriving the diierential properties of various unit quaternion curves 4, 5, 6, 7, 8] at the curve end points.
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عنوان ژورنال:
- Journal of Visualization and Computer Animation
دوره 7 شماره
صفحات -
تاریخ انتشار 1996