Homework 05 - Rotation parameterization by quaternions
Task
In Maple:
Verify that formula (8.112) in
PRO-Lecture.pdf
for quaternion composition holds true.
Verify that formula (8.116) in
PRO-Lecture.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).
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Upload via the
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the zip archive
hw05.zip
containing
hw05.mws Maple script (functions) solving the assignment.
hw05.pdf description of the solution (algorithms, results, comments).