Quaternion Specifics

[Viviano Raymond]

Hello,

I have a couple questions regarding the quaternions.

1.) Do the quaternions use Hamilton or JPL convention?

2. Is q0 or is q3 the real part of the quaternion? I.e., is the quaternion stored [w,x,y,z] or [x,y,z,w]?

Thanks!

[luckham jerill]

Hello Raymond,

Thank you for your question.

We use Hamilton’s form – the same as commonly used in computer graphics packages.
q0 is the real part. Note we use normalised quaternions (sum of squares = 1)

Please feel free to message us if you need anything else.

 

[Viviano Raymond]

Excellent. Thank you for the quick response.

[Author]

Posts