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We are suppose to compute the quaternion which performs 1/5 of the rotation of this quaternion:

[ 0.965  (0.149  -0.149   0.149)] 

The answer provided is shown as below:

Picture of the answer

I'm stuck at the second last row of the ans. How do you change from the '0.998 q0 + 0.202 q' to [0.998 0.03 -0.03 0.03]

1 Answers 1