Open Access
表1
第一段样条曲线部分映射四元数
| 序号 | 参数 ti |
样条曲线坐标值 | 转角 θ/rad |
转轴矢量 | 插值四元数 | ||||||||
| 实部 | 虚部 | ||||||||||||
| X | Y | Z | a | b | c | w | x | y | z | ||||
| 1 | 0 | 0.523 6 | 0 | 0 | 0.523 6 | 1 | 0 | 0 | 0.965 9 | 0.258 8 | 0 | 0 | |
| 2 | 0.2 | 0.555 6 | 0.155 6 | 0.048 8 | 0.579 1 | 0.959 5 | 0.268 7 | 0.084 2 | 0.958 4 | 0.273 9 | 0.076 7 | 0.024 1 | |
| 3 | 0.5 | 0.383 1 | 0.464 9 | -0.026 0 | 0.602 9 | 0.635 3 | 0.771 0 | -0.043 1 | 0.954 9 | 0.188 6 | 0.228 9 | -0.012 8 | |
| 4 | 1 | 0 | 0.785 4 | 0 | 0.785 4 | 0 | 1 | 0 | 0.923 9 | 0 | 0.382 7 | 0 | |
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