Quaternion Rotation

Rotation of a vector by a quaternion.

$quaternion rotation$

Description

The Quaternion Rotation block computes the resultant vector after passively rotating the source vector vec by a quaternion and returns the final vector, rotated vector, or vector of rotated vectors.

The quaternion is of the form:

Vector has the form:

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

where is the quaternion multiplication operator.

The finite vector has the form:

Ports

Input

q - input quaternion
quaternion | vector

Details

Quaternion as , given as a quaternion or a vector of quaternions.

Data types: Float64.

vec - input vector
vector | vector of vectors

Details

Input vector as .

Data types: Float64.

Output

vec_rot — finite quaternion
vector | vector of vectors

Details

A finite vector or vector of rotated vectors.

Data types: Float64.