CL_rot_contQuat

Description

• This function tries to make each component of a quaternion continuous by multiplying the quaternion by -1 when necessary.

• Notes:

  - The quaternion components must be smooth enough (as a function of the indices) otherwise discontinuities may not be removed.

  - The quaternion is not changed by the function in the sense that it can only be multiplied by 1 or -1 (and q and -q represent the same rotation).

  - Quaternions with at least one component equal to %nan are not modified.

Parameters

q:

Quaternion (dim N)

qc:

Quaternion with continuous components (dim N)

Authors

• CNES - DCT/SB

Examples

alpha = 0 : 0.1 : 5; q = CL_rot_matrix2quat(CL_rot_angles2matrix([1,2], [alpha; 2*alpha])); qc = CL_rot_contQuat(q); scf(); plot(alpha, [q.r; q.i]); xtitle("Initial quaternion"); scf(); plot(alpha, [qc.r; qc.i]); xtitle("Transformed quaternion");