Quaternion Rotation

Rotate the vector by a quaternion.

blockType: SubSystem

$quaternion rotation$

Path in the library:

/Aerospace/Math Operations/Quaternion Rotation

Description

Block Quaternion Rotation calculates the resulting vector after passively rotating the original vector vec by a quaternion and returns the final vector, the rotated vector, or the vector of rotated vectors.

The quaternion has the form:

The vector has the form:

Engee defines the rotation of a vector by a quaternion in the form:

Where — the quaternion multiplication operator.

The final vector has the form:

Ports

Input

q — input quaternion

+ quaternion | vector

Details

A quaternion in the form , given as a quaternion or a vector of quaternions.

Data types: Float64

vec — input vector
vector | vector of vectors

Details

The input vector is in the form .

Data types: Float64

Output

vec_rot is a finite quaternion

+ vector | vector of vectors

Details

A finite vector or a vector of rotated vectors.

Data types: Float64