Homepage of Hans de Nivelle
Homepage of the
institute for computer science.
Teaching
Since October 2017, I am visiting professor at
the School of Engineering and Digital Sciences
of
Nazarbayev University in
Nur-Sultan,
where I teach Programming Languages, Data Structures, Formal Language Theory,
and Compiler Construction.
Research
My research interests are
automated theorem proving,
verification,
proof theory,
and
programming language design.
Committee Memberships
-
TABLEAUX 2017,
25-29 september 2017.
-
International Joint Conference on Automated Reasoning
IJCAR 2018, 14-17 july 2018.
- Member of
TABLEAUX
steering committee.
TABLEAUX/FroCoS 2015
I organized
TABLEAUX
and
FroCoS
in Wroclaw during 21-24 September 2015.
Current Homepage
My current homepage is here.
Quaternion Finder
Build your own Quaternion Finder!
Thanks to Tomasz Wierzicki for the typesetting.
The cube can also be used for finding (the rotations of)
transformations between different coordinate systems as follows:
-
Align the cube with coordinate system C1.
-
Find the position of (1;0,0,0) on the cube.
-
Align the cube with coordinate system C2.
-
The quaternion can be read off from the place where
(1;0,0,0) was found in Step 2.
Example
What quaternion represents the eye coordinates
of a pilot, relative to the coordinate system of his plane?
Assume that you are the pilot. Airplane coordinates have
X pointing forward, Y to the right, Z down. In this orientation,
(1;0,0,0) is at the bottom of the cube to the right.
In your eye coordinates, X will be to the right, Y will be upwards,
Z will be pointing behind you.
If you align the cube, bottom right now contains the
quaternion (1;-1,-1,1).