Quaternions to Rotation Angles
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Calculating the rotation vector from the vector of quaternions.
blockType: SubSystem
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Path in the library: |
Description
The block Quaternions to Rotation Angles converts a four-element quaternion vector ( ) into a rotation described by three angles ( ). The elements of the directional cosine matrix are functions of the unit vector of quaternions. For example, for the order of rotation - - , the matrix is defined as follows:
The matrix , defined by the unit vector of the quaternion, is:
From the above equations, we can derive the following relations between the elements of and the individual rotation angles for rotation - - :
where
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- it’s ;
-
- this is ;
-
- this is .
Parameters
Parameters
#
Rotation order —
rotation order
ZYX | ZYZ | ZXY | ZXZ | YXZ | YXY | YZX | YZY | XYZ | XYX | XZY | XZX
Details
Select the rotation order for the three rotation angles.
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| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |