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Quaternions are a representation of orientation wikipedia
For advanced concepts there's an extensive reference written by Erik Dam
There's a good primer on the ogre website.
O.Khatib lectures (from Stanford) on introduction to robotics are freely available from the iTunes U store and can be accessed here. There is a part elaborating on rotation representations.
There's also a great tutorial at https://eater.net/quaternions
I started a ROS tutorial. Hopefully others will add to it.
Just to complement the idea. A dual quaternion can be used to define a rigid body rotation AND translation of an angle θ about an axis u through the origin. I realy don't known which kind of quaternion is implemented in TF, maybe just the rotational.
Here you can found an interresting web site about quaternions. And here a very good paper with a tutorial and a real application.
Asked: 2011-05-17 09:59:45 -0500
Seen: 26,132 times
Last updated: Jan 29 '21
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