A rational Rodrigues' formula to interpolate rotations
arXiv:1512.01939h-index: 12
Originality Synthesis-oriented
AI Analysis
Provides a more accurate and efficient method for rotation modeling in computational applications, though incremental in nature.
The paper introduces a rational version of Rodrigues' rotation formula that improves accuracy and efficiency in finite precision arithmetic, demonstrated by modeling cell phone rotation from gyroscope data.
We propose a rational version of the classic Rodrigues' rotation formula, which leads to a more accurate and efficient modelling of rotations and their derivatives in finite precision arithmetic. We explain how the rational Rodrigues' formula can be used to describe the kinematics of rigid bodies, in a practical example in which we model the rotation of a cell phone using the data obtained from its gyroscope.