quat = rotm2quat(rotm) converts
a rotation matrix, rotm, to the corresponding
unit quaternion representation, quat. The input
rotation matrix must be in the premultiply form for rotations.
Rotation matrix, specified 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. The input rotation matrix must be in the
premultiply form for rotations.
Note
Rotation matrices that are slightly non-orthonormal can give
complex outputs. Consider validating your matrix before inputting to
the function.
Unit quaternion, returned as an n-by-4 matrix
containing n quaternions. Each quaternion, one
per row, is of the form q = [wxyz],
with w as the scalar number.
Example: [0.7071 0.7071 0 0]
Extended Capabilities
C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™.
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