A compact differential formula for the first derivative of a unit quaternion curve

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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
URI
http://hdl.handle.net/10203/76948
Appears in Collection
CS-Journal Papers(저널논문)
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