Quaternions to Rotation Angles
Calculation of the rotation vector from the quaternion vector.
blockType: SubSystem
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Path in the library: |
Description
Block Quaternions to Rotation Angles converts a four-element vector of quaternions ( ) in a turn described by three angles ( ). Elements of the matrix of guiding cosines are functions of the unit vector of the quaternion. For example, for the rotation order - - the matrix It is defined as follows:
The matrix , defined by the unit vector of the quaternion, is equal to:
The following relations between the elements can be derived from the above equations and separate rotation angles for rotation - - :
where
-
— This is ;
-
— 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.
| Values |
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| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |