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How are quaternions specified?
nihm20
✭
in RobotStudio
As I understand it quaternions can either be specified with the scalar part first or last as according to
q = w + xi + yj + zk
or
q = xi +yj +zk + w
where w is the scalar part. I was setting up my signals for my signal analyzer so I was wondering in which order RobotStudio defines quaternions for orienation, does Q1 or Q4 represent the scalar part w?
q = w + xi + yj + zk
or
q = xi +yj +zk + w
where w is the scalar part. I was setting up my signals for my signal analyzer so I was wondering in which order RobotStudio defines quaternions for orienation, does Q1 or Q4 represent the scalar part w?
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I believe it's q = w + xi + yj + zk. (1,0,0,0) corresponds to no rotation.
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