On 03.11.2011, at 13:32, JuanPi wrote: > On Thu, Nov 3, 2011 at 12:54 PM, Lukas Reichlin > <lukas.reich...@gmail.com> wrote: >> On 03.11.2011, at 12:00, JuanPi wrote: >> >>> On Thu, Nov 3, 2011 at 11:45 AM, Lukas Reichlin >>> <lukas.reich...@gmail.com> wrote: >>>> On 03.11.2011, at 10:28, JuanPi wrote: >>>> >>>>> Hi, >>>>> >>>>> In mid January 2012 I will start porting the Robotics Toolbox >>>>> (http://petercorke.com/Robotics_Toolbox.html) to Octave. >>>>> However I will break it in several packages since some functions are >>>>> already available and in some cases with better performance. >>>>> >>>>> One of the packages will be tools to manipulate quaternions and >>>>> rotations. Rotations (Euler angles, currently in devel version of >>>>> mechanics packages) will be inside the geometry package, but I think >>>>> quaternions could be a package itself. >>>>> >>>>> What do you think? >>>>> Is there a package that handles quaternions already in Octave-forge? >>>>> >>>>> Thanks >>>>> >>>>> -- >>>>> JuanPi Carbajal >>>>> ----- >>>>> "Complex problems have simple, easy-to-understand wrong answers." >>>>> Murphy’s Law Book Two >>>>> ----- >>>>> http://ailab.ifi.uzh.ch/carbajal/ >>>> >>>> Hi Juan, >>>> >>>> There are several packages. The official "quaternion" package [1], the >>>> object-oriented "quaternion_oo" [2] I started some time ago and the >>>> Quaternion Toolbox for Matlab [3]. The last two packages offer overloaded >>>> operators and matrices of quaternions. >>>> >>>> Best regards, >>>> Lukas >>>> >>>> >>>> [1] >>>> http://octave.svn.sourceforge.net/viewvc/octave/trunk/octave-forge/main/quaternion/ >>>> >>>> [2] >>>> http://octave.svn.sourceforge.net/viewvc/octave/trunk/octave-forge/extra/quaternion_oo/ >>>> >>>> [3] >>>> http://qtfm.sourceforge.net/ >>> >>> >>> Hi Lukas, >>> >>> Thanks for the prompt answer. I see the quaternion_oo is not released >>> yet, right? How is the overlap with the quaternion package? The latter >>> seems to be gradually abandoned... Last release is from 3 years ago. >> >> Yes, quaternion_oo is not yet released. My intention is/was that, once it is >> mature enough, I rename it to quaternion and replace the older package. The >> author of the older package, Scottedward Hodel, has passed away. He >> implemented the quaternion package long before classes were introduced with >> Octave 3.2. >> >>> I will check what is missing in quaternion_oo that the robotic toolbox >>> requires. I will also benchmark different versions of the same >>> algorithm. Is that OK with you? >> >> Do as you please. Maybe we could improve the performance of quaternion_oo. >> >>> With the functions that are already implemented in quaternion_oo, >>> shall I create aliases to avoid changing the Robotic toolbox? Shall I >>> put this aliases in the Robotic toolbox? What do you suggest? >> >> I would include it in quaternion_oo if it is of general use and to Robotics >> otherwise. But as you are the developer of the new stuff, I leave it up to >> you to decide. Feel free to modify/improve quaternion_oo, it is not a >> cathedral ;-) >> >>> -- >>> JuanPi Carbajal >>> ----- >>> "Complex problems have simple, easy-to-understand wrong answers." >>> Murphy’s Law Book Two >>> ----- >>> http://ailab.ifi.uzh.ch/carbajal/ >>> >> >> Lukas >> >> > > Lukas, > > I will help you then with the package but starting from mid January > 2012. Do you have a list of functions that are in the old quaternion > packages and not yet in quaternions_oo? > > JPi >
That's OK, I should focus now on model and controller reduction. IMHO we should cover all the functionality presented in doc/quaternion.ps and demoquat.m, for example derivatives and plotting. Furthermore, my package lacks methods like subsasgn. With SVN revision 8955, I've just added a quaternion_oo/devel folder containing rotation functions and modified the display routine for scalar quaternions. Regards, Lukas ------------------------------------------------------------------------------ RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 _______________________________________________ Octave-dev mailing list Octave-dev@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/octave-dev
