quatexp

Exponential of quaternion

collapse all in page

Syntax

qe=quatexp(q)

Description

qe=quatexp(q) calculates the exponential, qe, for the specified quaternion, q.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.

example

Examples

collapse all

Open Live Script

This example shows how to calculate the exponentials of quaternion matrix [0 0 0.7854 0].

qe = quatexp([0 0 0.7854 0])
qe = 1×4

    0.7071         0    0.7071         0
Open Live Script

This example computes the exponential of a quaternion and plots its components.

q = quaternion([0, 0.5, 1, 1.5]);
qe = quatexp(q);

Plot the components of the exponential.

bar(compact(qe)); 
title('Quaternion Exponential Components');
xlabel('Component');
ylabel('Value');

Figure contains an axes object. The axes object with title Quaternion Exponential Components, xlabel Component, ylabel Value contains an object of type bar.

Input Arguments

collapse all

Quaternions for which to calculate exponentials, specified as an M-by-4 matrix containing M quaternions.

Data Types: double

Output Arguments

collapse all

Exponential of quaternion.

References

[1] Dam, Erik B., Martin Koch, Martin Lillholm. "Quaternions, Interpolation, and Animation." University of Copenhagen, København, Denmark, 1998.

Version History

Introduced in R2016a

See Also

| | | | | | | | | |