Clarification on the function `dquat2tform.m`
Closed this issue · 3 comments
Hi @Ganimed @gabrielenava,
it seems to me that the function
computes a sort of homogeneous transformation where the associated rotation matrix is computed not from a quaternion, but from a quaternion derivative:
The meaning of this operation is not clear to me. Can you help me understand this?
Thanks.
Hi Daniele,
thanks for the advice!
The function dquat2tform
is a function which does not make any sense and is wrong. This function is a relict from the very beginning and I have overseen it. You can ignore it. In the next update it will be removed from the repository.
Only the opposite direction would make a sense (orientation to quaternion rate), like rotm2dquat
or tform2dquat
, if the angle velocity w is known.
But a function to "predict" the orientation is maybe useful and can be calculated like in the following link:
http://math.stackexchange.com/questions/189185/quaternion-differentiation
Hi @Ganimed,
thanks for the clarification. For the time being, I would avoid to put some effort in defining functions for orientation prediction.
Function removed with 8da3095. Closing this issue