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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).
courses/pro/labs/hw06.txt · Last modified: 2018/09/03 17:27 (external edit)