Rodrigues to Quaternions

Creating a quaternion from a finite rotation vector.

rodrigues to quaternion

Description

The block Rodrigues to Quaternions forms the quaternion from the finite rotation vector (Rodrigue vector) using the formula:

where are the Rodrigue-Hamilton parameters [1].

rod - vector of final rotation
`vector 3 by 1

Finite rotation vector .

Data types: Float64

q - quaternion
`quaternion

Quaternion , given as a 4 by 1 vector.

Data types: Float64