anax2quat.m

Converts angle-axis rotation parameters into a quaternion.

Syntax

    q=anax2quat(rot_axis,rot_angle)

Arguments

    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 also

euler2dcm.m, dcm2euler.m, euler2wigner.m, dcm2wigner.m

Version 2.3, authors: Gareth Charnock, Ilya Kuprov