quatnormalize

Normalize quaternion

Syntax

normalized_q = quatnormalize(q)

Description

normalized_q = quatnormalize(q) calculates the normalized quaternion, normalized n, for a given quaternion, q. For more information on the quaternion and normalized quaternion forms, see Algorithms.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.

example

Examples

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Normalize Quaternion

Open Live Script

Normalize q = [1 0 1 0].

normal = quatnormalize([1 0 1 0])

normal = 1×4

    0.7071         0    0.7071         0

Input Arguments

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`q` — quaternion matrix
m-by-4 matrix of real numbers

Quaternion matrix, specified in an m-by-4 matrix of real numbers containing m quaternions.

Example: [1 0 0 0]

Data Types: double

Output Arguments

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`normalized_q` — Normalized quaternions
m-by-4 matrix

Normalized quaternions, returned in an m-by-4 matrix.

Algorithms

The quaternion has the form of

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

The normalized quaternion has the form of

$n o r m a l (q) = \frac{q_{0} + i q_{1} + j q_{2} + k q_{3}}{\sqrt{q_{0}^{2} + q_{1}^{2} + q_{2}^{2} + q_{3}^{2}}} .$

References

[1] Stevens, Brian L. and Frank L. Lewis. Aircraft Control and Simulation. 2nd ed. Wiley–Interscience, 2003.

Extended Capabilities

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

Usage notes and limitations:

Code generation for this function requires the Aerospace Blockset™ software.

Version History

Introduced in R2006b

quatnormalize

Syntax

Description

Examples

Normalize Quaternion

Input Arguments

q — quaternion matrix m-by-4 matrix of real numbers

Output Arguments

normalized_q — Normalized quaternions m-by-4 matrix

Algorithms

References

Extended Capabilities

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

Version History

`q` — quaternion matrix
m-by-4 matrix of real numbers

`normalized_q` — Normalized quaternions
m-by-4 matrix

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