补充知识：qa⊗qb=R(qb)qa=[sbzb−ybxb−zbsbxbybyb−xbsbzb−xb−yb−zbsb][xayazasa]q_a \otimes q_b = R(q_b)q_a=\left[\begin{array}{cccc} {s_{b}} & {z_{b}} & {-y_{b}} & {x_{b}} \\ {-z_{b}} & {s_{b}} & {x_{b}} & {y_{b}} \\ {y_{b}} & {-x_{b}} & {s_{b}} & {z_{b}} \\ {-x_{b}} & {-y_{b}} & {-z_{b}} & {s_{b}} \end{array}\right]\left[\begin{array}{c} {x_{a}} \\ {y_{a}} \\ {z_{a}} \\ {s_{a}} \end{array}\right]qa⊗qb=R(qb)qa=⎣⎢⎢⎡sb−zbyb−xbzbsb−xb−yb−ybxbsb−zbxbybzbsb⎦⎥⎥⎤⎣⎢⎢⎡xayazasa⎦⎥⎥⎤ ∴R(qb)=Ω(w)+sI=[−ω∧ω−ωT0]+sIR(q_b)= \Omega(w)+sI=\left[\begin{array}{ll} {-\omega^{\wedge}} & {\omega} \\ {-\omega^{T}} & {0} \end{array}\right]+s IR(qb)=Ω(w)+sI=[−ω∧−ωTω0]+sI 相关文章： 2021-11-09
