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quaternion/septernion: Added multi- quaternion/septernion averaging

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Using method based on
http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf
but simplified for the case where the quaternions are similar.
This commit is contained in:
Henry Weller
2016-04-16 15:59:05 +01:00
parent d02e0aa05f
commit fc32d53828
5 changed files with 83 additions and 3 deletions
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12
applications/test/quaternion/Test-quaternion.C
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@ -97,6 +97,18 @@ int main(int argc, char *argv[])
}
}
List<septernion> ss(3);
List<scalar> w(3);
ss[0] = septernion(vector(0, 0.1, 0), quaternion(0.7, vector(1, 2, 3)));
w[0] = 0.1;
ss[1] = septernion(vector(0, 0.2, 0), quaternion(-0.6, vector(-2, -1, -3)));
w[1] = 0.5;
ss[2] = septernion(vector(0, 0.3, 0), quaternion(0.3, vector(3, 2, 1)));
w[2] = 0.4;
Info<< "average(ss, w) " << average(ss, w) << endl;
Info<< "End\n" << endl;
return 0;