Skip to content
master
Switch branches/tags
Code

Latest commit

 

Git stats

Files

Permalink
Failed to load latest commit information.
Type
Name
Latest commit message
Commit time
src
 
 
 
 
 
 
 
 
 
 
 
 

Quaternions.jl

A Julia module with quaternion, octonion and dual-quaternion functionality

Build Status Coverage Status

Quaternions are best known for their suitability as representations of 3D rotational orientation. They can also be viewed as an extension of complex numbers.

Implemented functions are:

+-*/^
real
imag  (a vector)
conj
abs
abs2
exp
log
normalize
normalizea  (return normalized quaternion and absolute value as a pair)
angleaxis  (taken as an orientation, return the angle and axis (3 vector) as a tuple)
angle
axis
exp
log
sin
cos
sqrt
linpol  (interpolate between 2 normalized quaternions)

Dual quaternions are an extension, combining quaternions with dual numbers. On top of just orientation, they can represent all rigid transformations.

There are two conjugation concepts here

conj  (quaternion conjugation)
dconj (dual conjugation)

further implemented here:

Q0  (the 'real' quaternion)
Qe  ( the 'dual' part)
+-*/^
abs
abs2
normalize
normalizea
angleaxis
angle
axis
exp
log
sqrt

Octonions form the logical next step on the Complex-Quaternion path. They play a role, for instance, in the mathematical foundation of String theory.

+-*/^
real
imag  (a vector)
conj
abs
abs2
exp
log
normalize
normalizea  (return normalized octonion and absolute value as a tuple)
exp
log
sqrt

About

A Julia module with quaternion and dual-quaternion functionality

Resources

License

Packages

No packages published

Languages