Difference between revisions of "Anax2quat.m"
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q=anax2quat(rot_axis,rot_angle) | q=anax2quat(rot_axis,rot_angle) | ||
| − | == | + | ==Parameters== |
rot_axis - cartesian direction vector given as a | rot_axis - cartesian direction vector given as a | ||
row or column with three real elements | row or column with three real elements | ||
| − | + | ||
rot_angle - rotation angle in radians | rot_angle - rotation angle in radians | ||
| − | |||
==Outputs== | ==Outputs== | ||
| Line 21: | Line 20: | ||
==Notes== | ==Notes== | ||
| − | Both angle-axis and quaternion convention are numerically stable. This conversion has no singularities. | + | 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== | ==See also== | ||
| − | [[euler2dcm.m]], [[dcm2euler.m]], [[ | + | [[euler2dcm.m]], [[dcm2euler.m]], [[wigner.m]], [[dcm2wigner.m]], [[anax2dcm.m]], [[axis_tsymm.m]], [[euler_sup.m]], [[quat2anax.m]], [[rotmat_align.m]], [[rotor_stack.m]], [[xyz2sph.m]], [[Kernel_utilities]] |
| − | |||
''Version 2.3, authors: [[Gareth Charnock]], [[Ilya Kuprov]]'' | ''Version 2.3, authors: [[Gareth Charnock]], [[Ilya Kuprov]]'' | ||
Latest revision as of 19:34, 6 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, anax2dcm.m, axis_tsymm.m, euler_sup.m, quat2anax.m, rotmat_align.m, rotor_stack.m, xyz2sph.m, Kernel_utilities
Version 2.3, authors: Gareth Charnock, Ilya Kuprov
