【源码】简单四元数和三维旋转函数库

这个简单的函数库使用四元数和R^4之间的同构在Matlab中实现四元数代数仿真。

This simple library implements the quaternion algebra in Matlab using the isomorphism between quaternions and R^4.

还实现了欧拉角、罗德里格斯公式和四元数版本的多种组合的旋转矩阵。

It also implements the rotation matrices for many combinations of Euler angles and the Rodrigues’ Formula and the quaternion version.

该函数库还包含３D可视化工具。

This library also contains a 3D Visualization tool.

主要函数概括如下：

Summarized description functions:

The sum and subtraction is normally performed by Matlab as R^4 vectors.

conjugate

division on the left

division on the right

exponential

inverse

absolute value

plot of coordinates in 3D

product

product with dot and cross commands

matrix isomorphism 1

matrix isomorphism 2

rotation

to string

Rx

Ry

Rz

Rxyz – and others combinations of Euler Angles.

Time derivative of Rxyz

Rot Rodrigues

完整源码下载地址：

http://page3.dfpan.com/fs/blcj4221c291669e785/

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