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DaveWR
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Re: Oct 12 - Part V: Current Hot Topic 2: Sensor Fusion – Using the Newest Techniques for Advanced Sensors
DaveWR   10/22/2012 9:20:47 AM
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For an explanayion of how to use C to develop Quaternions see here:

http://www.cprogramming.com/tutorial/3d/quaternions.html

e.g.

A quaternion represents two things.  It has an x, y, and z component, which represents the axis about which a rotation will occur.  It also has a w component, which represents the amount of rotation which will occur about this axis.  In short, a vector, and a float.  With these four numbers, it is possible to build a matrix which will represent all the rotations perfectly, with no chance of gimbal lock.  (I actually managed to encounter gimbal lock with quaternions when I was first coding them, but it was because I did something incorrectly.  I'll cover that later).  So far, quaternions should seem a lot like the axis angle representation.  However, there are some large differences, which start....now.

 



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