quat2eul

Convert quaternion to Euler angles

Syntax

eul = quat2eul(quat)

eul = quat2eul(quat,sequence)

[eul,eulAlt] = quat2eul(___)

Description

eul = quat2eul(quat) converts a quaternion rotation, quat, to the corresponding Euler angles, eul. The default order for Euler angle rotations is "ZYX".

eul = quat2eul(quat,sequence) converts a quaternion into Euler angles. The Euler angles are specified in the axis rotation sequence, sequence. The default order for Euler angle rotations is "ZYX".

[eul,eulAlt] = quat2eul(___) also returns an alternate set of Euler angles that represents the same rotation eulAlt.

Examples

Convert Quaternion to Euler Angles

quat = [0.7071 0.7071 0 0];
eulZYX = quat2eul(quat)

eulZYX = 1×3

         0         0    1.5708

Convert Quaternion to Euler Angles Using ZYZ Axis Order

quat = [0.7071 0.7071 0 0];
eulZYZ = quat2eul(quat,'ZYZ')

eulZYZ = 1×3

    1.5708   -1.5708   -1.5708

Input Arguments

quat — Unit quaternion

n-by-4 matrix | n-element vector of quaternion objects

Unit quaternion, specified as an n-by-4 matrix or n-element vector of quaternion objects containing n quaternions. If the input is a matrix, each row is a quaternion vector of the form q = [w x y z], with w as the scalar number.

Example: [0.7071 0.7071 0 0]

sequence — Axis rotation sequence

"ZYX" (default) | "ZYZ" | "XYZ"

Axis rotation sequence for the Euler angles, specified as one of these string scalars:

• "ZYX" (default) – The order of rotation angles is z-axis, y-axis, x-axis.

• "ZYZ" – The order of rotation angles is z-axis, y-axis, z-axis.

• "XYZ" – The order of rotation angles is x-axis, y-axis, z-axis.

Data Types: string | char

Output Arguments

eul — Euler rotation angles

n-by-3 matrix

Euler rotation angles in radians, returned as an n-by-3 array of Euler rotation angles. Each row represents one Euler angle set.

Example: [0 0 1.5708]

eulAlt — Alternate Euler rotation angle solution

n-by-3 matrix

Alternate Euler rotation angle solution in radians, returned as an n-by-3 array of Euler rotation angles. Each row represents one Euler angle set.

Example: [0 0 1.5708]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a

R2020a: Alternate Euler angle output

quat2eul now optionally outputs an alternate set of Euler angles that also represent the same rotation as the original output Euler angles.