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angle2quat

Convert rotation angles to quaternion

Description

example

quaternion = angle2quat(rotationAng1,rotationAng2,rotationAng3) calculates the quaternion for three rotation angles. Aerospace Toolbox uses quaternions that are defined using the scalar-first convention. The rotation used in this function is a passive transformation between two coordinate systems.

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

Examples

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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 using the YXZ 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

Input Arguments

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First rotation angles, specified as an m-by-1 array, in radians.

Data Types: double

Second rotation angles, specified as an m-by-1 array, in radians.

Data Types: double

Third rotation angles, specified as an m-by-1 array, in radians.

Data Types: double

Rotation sequence, specified as:

  • 'ZYX'

  • 'ZYZ'

  • 'ZXY'

  • 'ZXZ'

  • 'YXZ'

  • 'YXY'

  • 'YZX'

  • 'YZY'

  • 'XYZ'

  • 'XZY'

  • 'XYX'

  • 'XZX'

where rotationAng1 is z-axis rotation, rotationAng2 is y-axis rotation, and rotationAng3 is x-axis rotation.

Data Types: char | string

Output Arguments

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

Introduced in R2007b