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quaternion: correcting comments

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^(-1) went missing and some phrase was inprecise
This commit is contained in:
Matthias Grob
2017-09-25 13:08:05 +02:00
committed by Nuno Marques
parent e595ebb9a7
commit baf54ad29f
1 changed files with 5 additions and 5 deletions
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matrix/Quaternion.hpp
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@@ -2,20 +2,20 @@
* @file Quaternion.hpp
*
* All rotations and axis systems follow the right-hand rule.
* The Hamilton quaternion product definition is used.
* The Hamilton quaternion convention including its product definition is used.
*
* In order to rotate a vector in frame b (v_b) to frame n by a righthand
* rotation defined by the quaternion q_nb (from frame b to n)
* one can use the following operation:
* v_n = q_nb * [0;v_b] * q_nb^-1
* v_n = q_nb * [0;v_b] * q_nb^(-1)
*
* Just like DCM's: v_n = C_nb * v_b (vector rotation)
* M_n = C_nb * M_b * C_nb^(-1) (matrix rotation)
*
* or similarly
* v_b = q_nb^1 * [0;v_n] * q_nb
* or similarly the reverse operation
* v_b = q_nb^(-1) * [0;v_n] * q_nb
*
* where q_nb^(-1) represents the inverse of the quaternion q_nb = q_bn
* where q_nb^(-1) represents the inverse of the quaternion q_nb^(-1) = q_bn
*
* The product z of two quaternions z = q2 * q1 represents an intrinsic rotation
* in the order of first q1 followed by q2.