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並前往http://www.dtecta.com/files/GDC16_VanDenBergen_Gino_Rotational_Joint_Limits.pdf

Rotational Joint Limits in Quaternion Space - DTECTA

w is the real or scalar part, and. ○ (x, y, z) is the imaginary or vector part. Page 15. Quaternions (cont'd). ○ Quaternions behave as 4D vectors w.r.t..

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