Rotation Angles to Quaternions

Creating a quaternion from rotation angles.

blockType: SubSystem

Path in the library:

/Aerospace/Axes Transformations/Rotation Angles to Quaternions

Description

Block Rotation Angles to Quaternions forms a quaternion from the vector of rotation angles .

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

— rotation around the axis ;
— rotation around the axis ;
— rotation around the axis .

Restrictions

For rotation sequences , , , , , Angle of rotation lies in the range of ±90 degrees, rotation angles and lie in the range of ±180 degrees.
For rotation sequences ZYZ, ZXZ, YXY, YZY, XYX, XZX rotation angle lies in the range from 0 to 180 degrees, rotation angles and lie in the range of ±180 degrees.

Ports

Entrance

[R₁, R₂, R₃] — pass rotation angles:q[<br>] vector 3 by 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 — pass rotation sequence:q[<br>] ZYX (by default) | ZYZ | ZXY | ZXZ | YXZ | YXY | YZX | YZY | XYZ | XYX | XZY | XZX

A sequence of coordinate axes relative to which rotations are performed.