public static Quaternion cosh(Quaternion q) {
Double3Vector imag = q.imag();
final double imagNorm = imag.norm();
return new Quaternion(
ExtraMath.cosh(q.re) * Math.cos(imagNorm),
(Double3Vector) imag.normalize().scalarMultiply(ExtraMath.sinh(q.re) * Math.sin(imagNorm)));
}
public static Quaternion exp(Quaternion q) {
final double k = Math.exp(q.re);
Double3Vector imag = q.imag();
final double imagNorm = imag.norm();
return new Quaternion(
k * Math.cos(imagNorm),
(Double3Vector) imag.normalize().scalarMultiply(k * Math.sin(imagNorm)));
}
public static Quaternion log(Quaternion q) {
final double norm = q.norm();
return new Quaternion(
Math.log(norm),
(Double3Vector) q.imag().normalize().scalarMultiply(Math.acos(q.re / norm)));
}