Quaternions to Rodrigues Creating a finite rotation vector from a quaternion. Description The block Quaternions to Rodrigues generates the finite rotation vector (Rodrigue vector) 𝛉 from the quaternion using the formula: 𝛉 provided that . In the formula denote the elements of the normalised quaternion. Ports Input q - quaternion `quaternion Quaternion , given as a 4 by 1 vector. Data types: Float64 Output rod - vector of final rotation `vector 3 by 1 Finite rotation vector 𝛉 . Data types: Float64
