Quaternion Errors

This functions calculate the rotation needed to go from 'pos' (current position) to 'setp' (setpoint), in the same reference frame as 'pos'. More...

Functions
vec3	q_error (quat setp, quat pos)
	The magnitude of this error reaches its maximum at 90 degrees and goes to zero at 180 degrees. More...
vec3	q_error2 (quat setp, quat pos)
	This error has a discontinuity at 180 degrees. More...

Detailed Description

This functions calculate the rotation needed to go from 'pos' (current position) to 'setp' (setpoint), in the same reference frame as 'pos'.

Function Documentation

q_error()

vec3 q_error	(	quat	setp,
		quat	pos
	)

The magnitude of this error reaches its maximum at 90 degrees and goes to zero at 180 degrees.

Definition at line 355 of file quaternion.h.

q_error2()

vec3 q_error2	(	quat	setp,
		quat	pos
	)

This error has a discontinuity at 180 degrees.

When the deviation is less than 90 degrees, it has a gain of approximately 2 over q_error.

Definition at line 368 of file quaternion.h.