(1)(等效旋转矢量)
ϕ
=
w
+
1
2
ϕ
×
w
+
1
θ
2
(
1
−
θ
2
c
o
t
θ
2
)
(
ϕ
)
2
w
\phi=w+\frac{1}{2}\phi\times w+\frac{1}{\theta^2}(1-\frac{\theta}{2}cot\frac{\theta}{2})(\phi)^2w
ϕ=w+21ϕ×w+θ21(1−2θcot2θ)(ϕ)2w
(2)(4元数)
q
=
c
o
s
θ
2
+
u
s
i
n
θ
2
q=cos\frac{\theta}{2}+usin\frac{\theta}{2}
q=cos2θ+usin2θ
(3)(旋转矩阵)
q
=
1
2
q
。
w
q=\frac{1}{2}q。w
q=21q。w
(4)(旋转矩阵)
C
=
I
+
2
q
0
(
q
v
×
)
+
2
(
q
v
×
)
2
C=I+2q_0(q_v\times)+2(q_v\times)^2
C=I+2q0(qv×)+2(qv×)2
(5)(旋转矩阵)
C
=
C
w
×
C=Cw\times
C=Cw×
补充:q->w
w
=
u
ϕ
˙
+
u
˙
s
i
n
θ
+
u
˙
×
u
(
1
−
c
o
s
θ
)
w=u\dot \phi+\dot usin\theta+\dot u\times u(1-cos\theta)
w=uϕ˙+u˙sinθ+u˙×u(1−cosθ)
坐标系转动的4种数学表示方式
最新推荐文章于 2022-11-21 21:47:09 发布