Quaternion Rotation

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:

C code generation: Yes