wavg.quaternion.markley: Weighted quaternion Markley averaging algorithms.

In browarsoftware/RMoCap: Package for processing and kinematic analyzing motion capture data.

Description

See: F. Landis Markley, Yang Cheng, John Lucas Crassidis, and Yaakov Oshman. "Averaging Quaternions", Journal of Guidance, Control, and Dynamics, Vol. 30, No. 4 (2007), pp. 1193-1197. https://doi.org/10.2514/1.28949

Usage

wavg.quaternion.markley(Q, weights)

Arguments

Q	a data frame of quaternions (four dimensional vectors) to be averaged. Each row of data frame holds one quaternion.
weights	weights vector.

Value

4D quaternion vector.

Examples

Q <- data.frame(c(0.9999986, 0.9999986, 0.9999986, 0.9999986, 0.9999986, 0.9999986),
c(0.0008716584, 0.0008716584, 0.0009590162, 0.0009590162, 0.001046359, 0.001046359),
c(0.0009608439, 0.001048034, 0.0008736689, 0.001048034, 0.0009608439, 0.0008736689),
c(0.001046359, 0.0009590162, 0.001046359, 0.0008716584, 0.0008716584, 0.0009590162))

x <- seq(-2,2,length=6)
y <- dnorm(x,mean=0, sd=1)
y <- y / sum(y)
wavg.quaternion.markley(Q, y)

browarsoftware/RMoCap documentation built on May 16, 2019, 7:28 a.m.