A compact differential formula for the first derivative of a unit quaternion curve
This paper presents a compact differential formula for the first derivative of a unit quaternion curve defined 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 effectiveness of this formula by deriving the differential properties of various unit quaternion curves(1-5) at the curve end points.
- Publisher
- JOHN WILEY SONS LTD
- Issue Date
- 1996
- Language
- English
- Article Type
- Article
- Citation
JOURNAL OF VISUALIZATION AND COMPUTER ANIMATION, v.7, no.1, pp.43 - 57
- ISSN
- 1049-8907
- Appears in Collection
- CS-Journal Papers(저널논문)
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