Rotate vector by quaternion
Aerospace Blockset / Utilities / Math Operations
The Quaternion Rotation block rotates a vector by a quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. This block normalizes all quaternion inputs. For the equations used for the quaternion, vector, and rotated vector, see Algorithms.
Quaternions in the form of [q0, r0, ..., q1, r1, ... , q2, r2, ... , q3, r3, ...], specified as a quaternion or vector of quaternions.
Vector or vector of vectors in the form of [v1, u1, ... , v2, u2, ... , v3, u3, ...].
vec_rot— Rotated quaternion
Rotated vector or vector of rotated vectors.
The quaternion has the form of
The vector has the form of
The rotated vector has the form of
 Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.
 Diebel, James. "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors." Stanford University, Stanford, California, 2006.