19.2 The Process (Dynamic) Model for Rigid Body Motion

Our motion model will describe the translational and rotational motion of a rigid body as a function of time. Consider an instantaneous state vector img that defines both the translation of the center of mass of a rigid body relative to a fixed reference Cartesian coordinate frame, img and the orientation of the body with respect to the reference frame given as an axis-angle vector img[img, img, img]T. Under certain conditions the vector a can become numerically unstable (specifically when img where n is a positive integer), so instead we use a unit quaternion q = [qs, qx, qy, qz]T that when combined with a represents the orientation. We discuss the need for q in more detail in Section 19.2.2 and in Appendix 19.A.2. In addition, in the dynamic (process) models ...

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