quatlog

自然logarithm of quaternion

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Syntax

ql=quatlog(q)

ql=quatlog(q)calculates the natural logarithm,ql, for a normalized quaternion,q.

Aerospace Toolboxuses quaternions that are defined using the scalar-first convention.

This function uses the relationships.

For $q = [\cos (θ), \sin (θ) v],$ with $\log (q) = [0, θ v] .$

Calculate the natural logarithm of quaternion matrixq=[1.0 0 1.0 0].

qlog = quatlog(quatnormalize([1.0 0 1.0 0]))

qlog = 0 0 0.7854 0

Quaternions for which to calculate the natural logarithm, specified as anM4矩阵containingMquaternions. This quaternion must be a normalized quaternion.

Data Types:double

自然logarithm of quaternion.

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

Introduced in R2016a