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Quaternion: changed comments because of typos and unclear inconsistent indexing

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This commit is contained in:
Matthias Grob 2017-10-17 16:24:02 +02:00
parent d259ab2108
commit f4243160e2
1 changed files with 14 additions and 12 deletions
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26
matrix/Quaternion.hpp
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@ -275,10 +275,10 @@ public:
}
/**
* Computes the derivative of q_12 when
* Computes the derivative of q_21 when
* rotated with angular velocity expressed in frame 1
* v_2 = q_12 * v_1 * q_12^-1
* d/dt q_12 = 0.5 * q_12 * omega_12_2
* v_2 = q_21 * v_1 * q_21^-1
* d/dt q_21 = 0.5 * q_21 * omega_2
*
* @param w angular rate in frame 1 (typically body frame)
*/
@ -290,10 +290,10 @@ public:
}
/**
* Computes the derivative of q_12 when
* Computes the derivative of q_21 when
* rotated with angular velocity expressed in frame 2
* v_2 = q_12 * v_1 * q_12^-1
* d/dt q_12 = 0.5 * omega_12_1 * q_12
* v_2 = q_21 * v_1 * q_21^-1
* d/dt q_21 = 0.5 * omega_1 * q_21
*
* @param w angular rate in frame 2 (typically reference frame)
*/
@ -340,9 +340,10 @@ public:
}
/**
* Rotates vector v_1 in frame 1 to vector r_2 in frame 2
* using the rotation quaternion q_12
* v_2 = q_12 * v_1 * q_12^-1
* Rotates vector v_1 in frame 1 to vector v_2 in frame 2
* using the rotation quaternion q_21
* describing the rotation from frame 1 to 2
* v_2 = q_21 * v_1 * q_21^-1
*
* @param vec vector to rotate in frame 1 (typically body frame)
* @return rotated vector in frame 2 (typically reference frame)
@ -355,9 +356,10 @@ public:
}
/**
* Rotates vector v_2 in frame 2 to vector r_1 in frame 1
* using the rotation quaternion q_12
* v_1 = q_12^-1 * v_1 * q_12
* Rotates vector v_2 in frame 2 to vector v_1 in frame 1
* using the rotation quaternion q_21
* describing the rotation from frame 1 to 2
* v_1 = q_21^-1 * v_1 * q_21
*
* @param vec vector to rotate in frame 2 (typically reference frame)
* @return rotated vector in frame 1 (typically body frame)