angle2quat

Convert rotation angles to quaternion

Syntax

quaternion = angle2quat(rotationAng1,rotationAng2,rotationAng3)
quaternion = angle2quat(rotationAng1,rotationAng2,rotationAng3,rotationSequence)


Description

quaternion = angle2quat(rotationAng1,rotationAng2,rotationAng3) calculates the quaternion for three rotation angles.

quaternion = angle2quat(rotationAng1,rotationAng2,rotationAng3,rotationSequence) calculates the quaternion using a rotation sequence.

Input Arguments

rotationAng1	m-by-1 array of first rotation angles, in radians.
rotationAng2	m-by-1 array of second rotation angles, in radians.
rotationAng3	m-by-1 array of third rotation angles, in radians.
rotationSequence	Rotation sequence. For example, the default 'ZYX' represents a sequence where rotationAng1 is z-axis rotation, rotationAng2 is y-axis rotation, and rotationAng3 is x-axis rotation. 'ZYX' 'ZYZ' 'ZXY' 'ZXZ' 'YXZ' 'YXY' 'YZX' 'YZY' 'XYZ' 'XZY' 'XYX' 'XZX' 'ZYX' (default)

Output Arguments

quaternion

m-by-4 matrix containing m quaternions. quaternion has its scalar number as the first column.

Examples

Determine the quaternion from rotation angles:

yaw = 0.7854; 
pitch = 0.1; 
roll = 0;
q = angle2quat(yaw, pitch, roll)
q =
    0.9227   -0.0191    0.0462    0.3822

Determine the quaternion from rotation angles and rotation sequence:

yaw = [0.7854 0.5]; 
pitch = [0.1 0.3]; 
roll = [0 0.1];
q = angle2quat(pitch, roll, yaw, 'YXZ')
q =
    0.9227    0.0191    0.0462    0.3822
    0.9587    0.0848    0.1324    0.2371