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--- courses:pro:labs:hw06 [2018/09/03 17:27]
+++ courses:pro:labs:hw06 [2018/09/03 17:27] (current)
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+~~NOTOC~~
+===== Homework 06 - Rotation parameterization by quaternions =====
+=== Task ===
+In Maple:
+   - Verify that formula (7.74) in [[http://cmp.felk.cvut.cz/cmp/courses/PRO/2012/Lecture/PRO-2012-Lecture-12.pdf|PRO-2012-Lecture-12.pdf]] for quaternion composition holds true.
+   - Verify that formula (7.76) in [[http://cmp.felk.cvut.cz/cmp/courses/PRO/2012/Lecture/PRO-2012-Lecture-12.pdf|PRO-2012-Lecture-12.pdf]] for quaternion composition holds true.
+     - Find the quaternion representation r1 and matrix representation R1 of the rotation by Pi/2 around x-axis.
+     - Find the quaternion representations quaternion representation r2 and matrix representation R2 of the rotation by Pi/2 around y-axis.
+     - Construct the quaternion representations r21 of the rotation r21 = r2 o r1 using the composition 'o' of quaternions.
+     - Find the rotation matrix R21 = R2.R1 by matrix multiplication '.'.
+     - Construct the rotation matrix from r21 and compare it to R21.
+     - Construct the quaternion from the rotation matrix R21 and compare it to r21. (Hint: R->axis & angle->quaternion).
+=== Upload ===
+Upload via the [[https://cw.felk.cvut.cz/upload/|course ware]] the zip archive ''hw06.zip'' containing
+  - hw06.mws Maple script (functions) solving the assignment.
+  - hw06.pdf description of the solution (algorithms, results, comments).