quat
Description
Examples
Convert SE(3) Transformation to Numeric Quaternion
Create SE(3) transformation with zero translation and a rotation defined by a numeric quaternion. Use the eul2quat
function to create the numeric quaternion.
quat1 = eul2quat([0 0 deg2rad(30)])
quat1 = 1×4
0.9659 0.2588 0 0
T = se3(quat1,"quat")
T = se3
1.0000 0 0 0
0 0.8660 -0.5000 0
0 0.5000 0.8660 0
0 0 0 1.0000
Convert the transformation back into a numeric quaternion.
quat2 = quat(T)
quat2 = 1×4
0.9659 0.2588 0 0
Convert SO(3) Rotation to Numeric Quaternion
Create SO(3) rotation defined by a numeric quaternion. Use the eul2quat
function to create the numeric quaternion.
quat1 = eul2quat([0 0 deg2rad(30)])
quat1 = 1×4
0.9659 0.2588 0 0
R = so3(quat1,"quat")
R = so3
1.0000 0 0
0 0.8660 -0.5000
0 0.5000 0.8660
Convert the rotation into a numeric quaternion.
quat2 = quat(R)
quat2 = 1×4
0.9659 0.2588 0 0
Input Arguments
transformation
— Transformation
se3
object | N-element array of se3
objects
Transformation, specified as an se3
object or as an
N-element array of se3
objects.
N is the total number of transformations.
rotation
— Rotation
so3
object | N-element array of so3
objects
Rotation, specified as an so3
object or as an
N-element array of so3
objects.
N is the total number of rotations.
Output Arguments
q
— Quaternion rotation angles
M-by-4 matrix
Quaternion rotation angles, returned as an M-by-4 matrix, where each row is of the form [qw qx qy qz]. M is the total number of transformations or rotations specified.
Version History
Introduced in R2023a
See Also
se3
| so3
| quaternion
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