public static QuaternionD Ln(
	QuaternionD quaternion
)

Public Shared Function Ln ( _
	quaternion As QuaternionD _
) As QuaternionD

public:
static QuaternionD Ln(
	QuaternionD quaternion
)

Return Value

Important: This method requires that the quaternion is a unit quaternion.

The natural logarithm of a quaternion q is defines as:

ln(q) = ln(cos(θ) + usin(θ)) = ln(e^uθ) = uθ

The result is returned as a quaternion with the form: (0, uθ)