quaternion.logRight

the logarithmic map that translates a rotation into a tangent vector.

Therefore it converts a given rotation, relative to a reference rotation, into its corresponding tangent vector in the tangent space at the reference. Hence, the log-function computes the relative rotation.

Syntax

v = log(q) % rotation vector with reference to the identical rotation
v = log(q,q_ref) % rotation vector with reference q_ref

Input

Output

See also

quaternion.logm orientation.log vector3d.exp spinTensor.spinTensor