Rotation Angles to Quaternions

Creating a quaternion from the angles of rotation.

rotation angles to quaternions

Description

The Rotation Angles to Quaternions block generates the quaternion from the vector of rotation angles .

For example, the rotation order by default means the following sequence of rotations relative to coordinate axes:

- rotation about the axis .
- rotation around the axis .
- rotation around the axis .

Limitations

For rotation sequences ZYX, ZXY, YXZ, YZX, XYZ, XZY, the rotation angle of lies in the range ±90 deg, the rotation angles of and lie in the range ±180 deg.
For rotation sequences ZYZ, ZXZ, YXY, YZY, XYX, XZX the rotation angle ranges from 0 to 180 degrees, the rotation angles and range from ±180 degrees.

Ports

Input

[R₁, R₂, R₃] - rotation angles
`vector 3 to 1

Angles of rotation, rad.

Data types: Float64.

Output

q - quaternion
`quaternion

Quaternion , given as a 4 by 1 vector.

Data types: Float64.

Parameters

Rotation order - sequence of rotations
ZYX (by default) | ZYZ | ZXY | ZXY | ZXZ | YXZ | YXY | YXY | YZY | XYZ | XYX | XZY | XZX | XZX

The sequence of coordinate axes about which rotations are performed.

Additional options

C code generation: Yes