Last change
on this file since 37 was
37,
checked in by (none), 14 years ago
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Added original make3d
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-
Property svn:executable set to
*
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File size:
535 bytes
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[37] | 1 |
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| 2 |
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| 3 | % Make some synthetic quaternions
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| 4 | syms q0 q1 q2 q3 p0 p1 p2 p3 real
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| 5 |
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| 6 | q = [q0 q1 q2 q3]';
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| 7 | p = [p0 p1 p2 p3]';
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| 8 |
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| 9 | vgg_assert_equal('vgg_quat_mul(p,q)', 'vgg_quat_matrix(p) * q', 1e-8,1);
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| 10 |
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| 11 | % Generate a random unit quaternion.
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| 12 | % This represents a 3D rotation.
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| 13 | q = randn(4,1);
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| 14 | q = q / norm(q);
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| 15 |
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| 16 | % Now convert it to a rotation matrix,
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| 17 | % and convert back to ensure these routines
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| 18 | % are self-inverse
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| 19 | R = vgg_quat_rotation_matrix(q);
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| 20 | qback = vgg_quat_from_rotation_matrix(R);
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| 21 |
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| 22 | vgg_assert_equal(q, qback, -1e-8,1);
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| 23 |
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