Slide 36
Slide 36 text
単位クォータニオンの例
単位元 を通る 3 本の曲線を選んで,単位元における微分を取る:
を基底に取ると,
36 / 38
q(t, ω
, ω
, ω
) =
1 2 3 cos
+
2
t
(ω
i +
1 ω
j +
2 ω
k) sin
3 2
t
i =
2 j =
2 k =
2 −1, ij = k, jk = i, ki = j
ω
+
1
2 ω
+
2
2 ω
=
3
2 1
1
q
(t) =
1 cos
+
2
t i sin
,
(0) =
2
t q
˙1
i
2
1
q
(t) =
2 cos
+
2
t j sin
,
(0) =
2
t q
˙2
j
2
1
q
(t) =
3 cos
+
2
t k sin
,
(0) =
2
t q
˙3
k
2
1
u
=
1
i, u
=
2
1
2
j, u
=
2
1
3
k
2
1
[u
, u
]
1 1
[u
, u
]
1 2
[u
, u
]
2 3
[u
, u
]
3 1
= [u
, u
] = [u
, u
] = 0
2 2 3 3
= −[u
, u
] = u
2 1 3
= −[u
, u
] = u
3 2 1
= −[u
, u
] = u
1 3 2