quatpower

Power of quaternion

Description

example

qp=quatpower(q,pow) calculates q to the power of pow for a normalized quaternion, q.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.

${q}^{t}=\mathrm{exp}\left(t\cdot \mathrm{log}\left(q\right)\right),$ with $t\in R.$

Examples

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Calculate the power of 2 of quaternion q = [1.0 0 1.0 0].

qp = quatpower(quatnormalize([1.0 0 1.0 0]),2)
qp =

-0.0000         0    1.0000         0

Input Arguments

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Quaternions for which to calculate exponentials, specified as an M-by-4 matrix containing M quaternions.

Data Types: double

Power to which to calculate quaternion power, specified as an M-by-1 vector containing M power scalars.

Data Types: double

Output Arguments

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Power of quaternion.

References

[1] Dam, Erik B., Martin Koch, Martin Lillholm. "Quaternions, Interpolation, and Animation." University of Copenhagen, København, Denmark, 1998.

Version History

Introduced in R2016a