matrix exponential to convert skew symmetric matrices into quaternions
Syntax
r = expquat(M)
r = expquat(T)
r = expquat(tq)
r = expquat(tq)
r = expquat(tq,q) % exponential map relative to quaternion qInput
| M | skew symmetric matrix ~ element of the Lie algebra |
| T | skew symmetric rank 2 tensor |
| tq | vector3d element of the tangential space |
| a | [a12, a13, a23] matrix entries of the skew symmetric matrix |
Output
| r | quaternion |