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Quaternion exp()const;
Quaternion Log()const;
Quaternion power(const Real t)const;
A unit quaternion can be represented by
. Euler's identity for complex numbers generalizes to
quaternions
, where
is replace by
and
is replace by
.
With this identity we obtain the exponential of the quaternion
, where
is not necessary a unit quaternion. It is
then possible to define the logarithm and the power of a unit
quaternion [2].
is not necessary a unit quaternion even if
is a unit
quaternion.
Quaternion for exp, Log
Richard Gourdeau
2004-07-06