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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)