Hello everyone,
Context (not relevant for Problem):
For a school project, im playing around with "rotation matrix" and "Quaternions", i already calculated the Quaternions with a different methode, and now i want to compare the results i get from rotationsmatrix2quaterionen(numeric_result) with the ones i calculated earlier. The function seems to work, rr is nearly zero (not exactly because of numeric imprecision)
Problem:
I don't understand why 'rr' and 'gh' give me different results. The calculation should be the same both times, only that one time at first i write the output in a seperate array.
I assume i made some stupid mistake, but i can't find it.
0.8138 -0.4063 0.4155 10.0000;
0.4698 0.8808 -0.0590 12.5000;
-0.3420 0.2432 0.9077 64.0000;
0 0 0 1.0000]
numeric_result =
0.8138 -0.4063 0.4155 10.0000
0.4698 0.8808 -0.0590 12.5000
-0.3420 0.2432 0.9077 64.0000
0 0 0 1.0000
[e0_, e1_, e2_, e3_] = rotationsmatrix2quaterionen(numeric_result)
rr=[e0, e1, e2, e3]-[e0_, e1_, e2_, e3_]
rr =
1.0e-04 *
0.1370 -0.1127 0.4496 0.0109
gh=[e0, e1, e2, e3]-rotationsmatrix2quaterionen(numeric_result)
gh =
0.0000 -0.8694 -0.7494 -0.7182
function [e0, e1, e2, e3] = rotationsmatrix2quaterionen(RotMat)
e0 = 0.5*sqrt(1+R(1,1)+R(2,2)+R(3,3));
e1 = (R(3,2)-R(2,3)) / (4*e0);
e2 = (R(1,3)-R(3,1)) / (4*e0);
e3 = (R(2,1)-R(1,2)) / (4*e0);
