https://github.com/danini-the-panini/euler-vs-hamilton

An investigation on the differences in numerical stability between the use of Euler angles and Hamilton quaternions for rotation
https://github.com/danini-the-panini/euler-vs-hamilton

Last synced: about 1 month ago
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An investigation on the differences in numerical stability between the use of Euler angles and Hamilton quaternions for rotation

• Host: GitHub
• URL: https://github.com/danini-the-panini/euler-vs-hamilton
• Owner: danini-the-panini
• License: mit
• Created: 2014-03-31T20:57:01.000Z (almost 11 years ago)
• Default Branch: master
• Last Pushed: 2014-08-22T17:33:32.000Z (over 10 years ago)
• Last Synced: 2023-06-11T05:35:17.622Z (over 1 year ago)
• Language: TeX
• Size: 5.75 MB
• Stars: 1
• Watchers: 0
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
Euler vs Hamilton

=================

Round 1 - Fight!

An investigation on the differences in numerical stability between the use of Euler angles and Hamilton quaternions for rotation

Usage

-----

Make sure you have [glfw](http://www.glfw.org/) and [glew](http://glew.sourceforge.net/) installed.

Run `make` from within this folder.

Run `./main`. Command line options are available, namely `-o FILE` and `-i FILE` to write or read recorded user input from or to `FILE` respectively.

Accumulated error and computation time (in seconds) are output to `STDOUT`. The first four columns represent error, the last four columns represent computation time. Columns are listed in the order of Rotation Matrix, Orthonormalised Rotation Matrix, Quaternion, Orthonormalised Quaternion.

Extra Scripts

-------------

The script `calculate_performance.rb` takes in the input from a run and outputs the average number of milliseconds spent per frame for each implementation.

The script `calculate_wins.rb` takes in the input from a run and outputs the number of frames in which each implementation was "winning", i.e. exhibited the least error.

The scripts plot_stability and plot_timing can be fed into [gnuplot]() to generate plots of error and timing respectively. Use a plot script as follows:

    gnuplot -e '-e "IN_FILE"' PLOT_SCRIPT > OUT_FILE

Some example input and corresponding output can be found under `tests`. Please note that output will vary between executions and platforms.