quatexp

Exponential of quaternion

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.

Examples

Calculate the Exponential of Quaternion

Calculate the exponentials of quaternion matrix [0 0 0.7854 0].

qe = quatexp([0 0 0.7854 0])

qe =
    0.7071         0    0.7071         0

Input Arguments

q — Quaternions

M-by-4 matrix

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

Data Types: double

Output Arguments

qe — Exponential of quaternion

M-by-4 matrix

Exponential of quaternion.

References

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