Difference between revisions of "Anax2quat.m"
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q=anax2quat(rot_axis,rot_angle) | q=anax2quat(rot_axis,rot_angle) | ||
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rot_axis - cartesian direction vector given as a | rot_axis - cartesian direction vector given as a | ||
Revision as of 18:47, 5 June 2026
Converts angle-axis rotation parameters into a quaternion.
Syntax
q=anax2quat(rot_axis,rot_angle)
Parameters
rot_axis - cartesian direction vector given as a
row or column with three real elements
rot_angle - rotation angle in radians
Outputs
q - a structure with four fields q.u, q.i,
q.j, q.k giving the four components of
the quaternion
Notes
Both angle-axis and quaternion convention are numerically stable. This conversion has no singularities. See the notes on rotation conventions for the basic definitions of rotations in Spinach.
See also
euler2dcm.m, dcm2euler.m, wigner.m, dcm2wigner.m
Version 2.3, authors: Gareth Charnock, Ilya Kuprov
