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Exponential of quaternion



qe=quatexp(q) calculates the exponential, qe, for the specified quaternion, q.

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


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This example shows how to calculate the exponentials of quaternion matrix [0 0 0.7854 0].

qe = quatexp([0 0 0.7854 0])
qe = 1×4

    0.7071         0    0.7071         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

Output Arguments

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Exponential of quaternion.


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

Version History

Introduced in R2016a