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並前往http://web.cse.ohio-state.edu/~shen.94/781/Site/Slides_files/quaternion.pdf

Quaternion

Quaternion to Rotation Matrix. ○ Given a quaternion w + xi +yj + kz, it can be translated to the rotation matrix R: 1-2y^2-2z^2 2xy+2wz 2xz-2wy.

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