quat

Convert transformation or rotation to numeric quaternion

Since R2023b

collapse all in page

Syntax

q = quat(transformation)

q = quat(rotation)

Description

q = quat(transformation) creates a quaternion q from the rotation of the transformation transformation.

example

q = quat(rotation) creates a quaternion q from the rotation rotation.

example

Examples

collapse all

Convert SE(3) Transformation to Numeric Quaternion

Open Live Script

Create SE(3) transformation with zero translation and a rotation defined by a numeric quaternion. Use the eul2quat function to create the numeric quaternion.

quat1 = eul2quat([0 0 deg2rad(30)])

quat1 = 1×4

    0.9659    0.2588         0         0

T = se3(quat1,"quat")

T = se3
    1.0000         0         0         0
         0    0.8660   -0.5000         0
         0    0.5000    0.8660         0
         0         0         0    1.0000

Convert the transformation back into a numeric quaternion.

quat2 = quat(T)

quat2 = 1×4

    0.9659    0.2588         0         0

Convert SO(3) Rotation to Numeric Quaternion

Open Live Script

Create SO(3) rotation defined by a numeric quaternion. Use the eul2quat function to create the numeric quaternion.

quat1 = eul2quat([0 0 deg2rad(30)])

quat1 = 1×4

    0.9659    0.2588         0         0

R = so3(quat1,"quat")

R = so3
    1.0000         0         0
         0    0.8660   -0.5000
         0    0.5000    0.8660

Convert the rotation into a numeric quaternion.

quat2 = quat(R)

quat2 = 1×4

    0.9659    0.2588         0         0

Input Arguments

collapse all

`transformation` — Transformation
`se3` object | N-element array of `se3` objects

Transformation, specified as an se3 object or as an N-element array of se3 objects. N is the total number of transformations.

`rotation` — Rotation
`so3` object | N-element array of `so3` objects

Rotation, specified as an so3 object or as an N-element array of so3 objects. N is the total number of rotations.

Output Arguments

collapse all

`q` — Quaternion rotation angles
M-by-4 matrix

Quaternion rotation angles, returned as an M-by-4 matrix, where each row is of the form [qw qx qy qz]. M is the total number of transformations or rotations specified.