public void Exp4()
{
double θ = 0.0;
Vector3D v = new Vector3D(1.0, 2.0, 3.0);
v.Normalize();
QuaternionD q = new QuaternionD(0.0, θ * v);
q.Exp();
Assert.IsTrue(Numeric.AreEqual(1, q.W));
Assert.IsTrue(Vector3D.AreNumericallyEqual(Vector3D.Zero, q.V));
}
public void Exp2()
{
double θ = -0.3;
Vector3D v = new Vector3D(1.0, 2.0, 3.0);
v.Normalize();
QuaternionD q = new QuaternionD(0.0, θ * v);
q.Exp();
Assert.IsTrue(Numeric.AreEqual((double)Math.Cos(θ), q.W));
Assert.IsTrue(Vector3D.AreNumericallyEqual((double)Math.Sin(θ) * v, q.V));
}
public void Exp4()
{
double θ = 0.0;
Vector3D v = new Vector3D(1.0, 2.0, 3.0);
v.Normalize();
QuaternionD q = new QuaternionD(0.0, θ * v);
q.Exp();
Assert.IsTrue(Numeric.AreEqual(1, q.W));
Assert.IsTrue(Vector3D.AreNumericallyEqual(Vector3D.Zero, q.V));
}
public void Exp2()
{
double θ = -0.3;
Vector3D v = new Vector3D(1.0, 2.0, 3.0);
v.Normalize();
QuaternionD q = new QuaternionD(0.0, θ * v);
q.Exp();
Assert.IsTrue(Numeric.AreEqual((double)Math.Cos(θ), q.W));
Assert.IsTrue(Vector3D.AreNumericallyEqual((double)Math.Sin(θ) * v, q.V));
}
