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Copy file name to clipboardExpand all lines: 3d_orient_unitquaternion.html
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@@ -188,8 +188,9 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
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</div>
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<divclass="admonition note">
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<pclass="admonition-title">Note</p>
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<p><spanclass="math notranslate nohighlight">\(\theta = 0\)</span> the result in an identity quaternion, otherwise
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<codeclass="docutils literal notranslate"><spanclass="pre">V</span></code> must have a finite length, ie. <spanclass="math notranslate nohighlight">\(|V| > 0\)</span>.</p>
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<p>If <spanclass="math notranslate nohighlight">\(\theta\)</span> is zero within the default tolerance of
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<aclass="reference internal" href="func_vector.html#spatialmath.base.vectors.iszero" title="spatialmath.base.vectors.iszero"><codeclass="xref py py-func docutils literal notranslate"><spanclass="pre">iszero()</span></code></a>, the result is an identity
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quaternion. Otherwise, <codeclass="docutils literal notranslate"><spanclass="pre">v</span></code> must have a nonzero norm.</p>
<spanclass="property"><spanclass="k"><spanclass="pre">classmethod</span></span><spanclass="w"></span></span><spanclass="sig-name descname"><spanclass="pre">OA</span></span><spanclass="sig-paren">(</span><emclass="sig-param"><spanclass="n"><spanclass="pre">o</span></span></em>, <emclass="sig-param"><spanclass="n"><spanclass="pre">a</span></span></em><spanclass="sig-paren">)</span><aclass="reference internal" href="_modules/spatialmath/quaternion.html#UnitQuaternion.OA"><spanclass="viewcode-link"><spanclass="pre">[source]</span></span></a><aclass="headerlink" href="#spatialmath.quaternion.UnitQuaternion.OA" title="Link to this definition"></a></dt>
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<dd><blockquote>
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<div><p>Construct a new unit quaternion from two vectors</p>
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<dd><p>Construct a new unit quaternion from two vectors</p>
<p><codeclass="docutils literal notranslate"><spanclass="pre">UnitQuaternion.OA(O,</span><spanclass="pre">A)</span></code> is a unit quaternion that describes the 3D rotation
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defined in terms of vectors parallel to the Y- and Z-axes of its reference
frame, respectively <spanclass="math notranslate nohighlight">\(\vec{o}\)</span> and <spanclass="math notranslate nohighlight">\(\vec{a}\)</span>. In robotics these axes
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are respectively called the orientation and approach vectors defined such that
@@ -344,20 +326,14 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
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<li><p>Only the <codeclass="docutils literal notranslate"><spanclass="pre">A</span></code> vector is guaranteed to have the same direction in the resulting
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rotation matrix</p></li>
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<li><p><codeclass="docutils literal notranslate"><spanclass="pre">O</span></code> and <codeclass="docutils literal notranslate"><spanclass="pre">A</span></code> do not have to be unit-length, they are normalized</p></li>
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<li><p><codeclass="docutils literal notranslate"><spanclass="pre">O</span></code> and <ahref="#id5"><spanclass="problematic" id="id6">``</span></a>A` do not have to be orthogonal, so long as they are not parallel</p></li>
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<li><p><codeclass="docutils literal notranslate"><spanclass="pre">O</span></code> and <ahref="#id1"><spanclass="problematic" id="id2">``</span></a>A` do not have to be orthogonal, so long as they are not parallel</p></li>
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