quat2rotm

Convert quaternion to rotation matrix

Syntax

rotm = quat2rotm(quat)

Description

rotm = quat2rotm(quat) converts a quaternion quat to an orthonormal rotation matrix, rotm. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Examples

Convert Quaternion to Rotation Matrix

quat = [0.7071 0.7071 0 0];
rotm = quat2rotm(quat)

rotm = 3×3

    1.0000         0         0
         0   -0.0000   -1.0000
         0    1.0000   -0.0000

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]

Output Arguments

rotm — Rotation matrix

3-by-3-by-n matrix

Rotation matrix, returned as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: [0 0 1; 0 1 0; -1 0 0]

Extended Capabilities

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

Version History

Introduced in R2015a