Quaternion Modulus

Calculate modulus of quaternion

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  • Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Modulus block calculates the magnitude for a given quaternion. For the equations used for the quaternion and quaternion modulus, see Algorithms.

Ports

Input

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Quaternions in the form of [ q 0 , r 0 , ..., q 1 , r 1 , ... , q 2 , r 2 , ... , q 3 , r 3 , ...], specified as a quaternion or vector of quaternions.

Data Types: double

Output

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Quaternion modulus or vector of quaternion moduli in the form of [| q |, | r |, ...].

Data Types: double

Algorithms

The quaternion has the form of

q=q0+iq1+jq2+kq3.

The quaternion modulus has the form of

|q|=q02+q12+q22+q32

References

[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.

Introduced before R2006a