xyzquat

Convert transformation or rotation to compact 3-D pose representation

Since R2023b

Syntax

pose = xyzquat(transformation)

pose = xyzquat(rotation)

Description

pose = xyzquat(transformation) converts a transformation transformation to a compact 3-D pose representation pose.

example

pose = xyzquat(rotation) converts a rotation rotation to a compact 3-D pose representation pose with no translation.

example

Examples

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Convert SE(3) Transformation to 3-D Compact Pose

Open Live Script

Create SE(3) transformation with an xyz-position of [2 3 1] and a rotation defined by a numeric quaternion. Use the eul2quat function to create the numeric quaternion.

trvec = [2 3 1];
quat1 = eul2quat([0 0 deg2rad(30)]);
pose1 = [trvec quat1]

pose1 = 1×7

    2.0000    3.0000    1.0000    0.9659    0.2588         0         0

T = se3(pose1,"xyzquat")

T = se3
    1.0000         0         0    2.0000
         0    0.8660   -0.5000    3.0000
         0    0.5000    0.8660    1.0000
         0         0         0    1.0000

Convert the transformation back into a compact pose.

pose2 = xyzquat(T)

pose2 = 1×7

    2.0000    3.0000    1.0000    0.9659    0.2588         0         0

Convert SO(3) Rotation to 3-D Compact Pose

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 3-D compact pose.

pose1 = xyzquat(R)

pose1 = 1×7

         0         0         0    0.9659    0.2588         0         0

Input Arguments

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`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

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`pose` — 3-D compact pose
M-by-3 matrix

3-D compact pose, returned as an M-by-3 matrix, where each row is of the form [x y z qw qx qy qz]. M is the total number of transformations specified. x, y, z comprise the xyz-position and qw, qx, qy, and qz comprise the quaternion rotation.