/** * Rotates qToTransform by the inverse of the rotation described by q: qToTransform = q^-1 qToTransform q * Assumes that q is a unit-quaternion and describes a orientation. * Assumes that qToTransform is a pure-quaternion. */ public void invertTransform(Quat4d q, Quat4d qToTransform) { invertTransform(q, qToTransform, qToTransform); }
public void invertTransform(Quat4d q, Vector3d vectorToTransform) { invertTransform(q, vectorToTransform, vectorToTransform); }
initialAngularVelocity.get(tempAngularVelocity); quaternionCalculus.invertTransform(tempControlQuaternions[0], tempAngularVelocity); tempAngularVelocity.scale(trajectoryTime.getDoubleValue()); tempAngularVelocity.scale(1 / 3.0); finalAngularVelocity.get(tempAngularVelocity); quaternionCalculus.invertTransform(tempControlQuaternions[3], tempAngularVelocity); tempAngularVelocity.scale(trajectoryTime.getDoubleValue()); tempAngularVelocity.scale(1 / 3.0);