Quaternion Conjugate

Calculate conjugate of quaternion

Libraries:
Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Conjugate block calculates the conjugate for a given quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. For more information on quaternion forms, see Algorithms

Ports

Input

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q — Input quaternion
quaternion | vector of quaternions

Quaternions in the form of [q₀, r₀, ... , q₁, r₁, ... , q₂, r₂, ... , q₃, r₃, ...], specified as a quaternion or vector.

Data Types: double | bus

Output

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q' — Quaternion conjugate
quaternion conjugate | vector of quaternion conjugates

Quaternion conjugates in the form of [q₀′, r₀′, ... , q₁′, r₁′, ... , q₂′, r₂′, ... , q₃′, r₃′, ...], returned as a quaternion or vector.

Data Types: double | bus

Algorithms

The quaternion has the form of

$q = q_{0} + i q_{1} + j q_{2} + k q_{3} .$

The quaternion conjugate has the form of

$q^{'} = q_{0} - i q_{1} - j q_{2} - k q_{3} .$

References

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

Extended Capabilities

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

Version History

Introduced before R2006a