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quat2rotm

Convert quaternion to rotation matrix

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Syntax

rotm = quat2rotm(quat)

Description

example

rotm= quat2rotm(quat)转换quaternionquatto an orthonormal rotation matrix,rotm. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Examples

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Open Live Script 
quat = [0.7071 0.7071 0 0]; rotm = quat2rotm(quat)
rotm =3×31.0000 0 0 0 -0.0000 -1.0000 0 1.0000 -0.0000

Input Arguments

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Unit quaternion, specified as ann4矩阵or n-element vector ofquaternionobjects containingnquaternions. If the input is a matrix, each row is a quaternion vector of the formq= [wxyz], withwas the scalar number.

Example:[0.7071 0.7071 0 0]

Output Arguments

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Rotation matrix, returned as a 3-by-3-by-nmatrix containingnrotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example:[0 0 1; 0 1 0; -1 0 0]

Extended Capabilities

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

Version History

Introduced in R2015a

See Also

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