Coordinate Transformations and Trajectories
Navigation Toolbox™ provides functions for transforming coordinates and units into the format required for your applications. Use these functions to easily convert specific coordinates from one representation to the other.
Functions
Axis-Angles
axang2quat | Convert axis-angle rotation to quaternion |
axang2rotm | Convert axis-angle rotation to rotation matrix |
axang2tform | Convert axis-angle rotation to homogeneous transformation |
Euler Angles
Quaternions
quaternion | Create quaternion array |
quat2axang | Convert quaternion to axis-angle rotation |
quat2eul | Convert quaternion to Euler angles |
quat2rotm | Convert quaternion to rotation matrix |
quat2tform | Convert quaternion to homogeneous transformation |
Rotation Matrices
so3 | SO(3) rotation (Since R2022b) |
rotm2axang | Convert rotation matrix to axis-angle rotation |
rotm2eul | Convert rotation matrix to Euler angles |
rotm2quat | Convert rotation matrix to quaternion |
rotm2tform | Convert rotation matrix to homogeneous transformation |
Homogeneous Transformations
se3 | SE(3) homogeneous transformation (Since R2022b) |
tform2axang | Convert homogeneous transformation to axis-angle rotation |
tform2eul | Extract Euler angles from homogeneous transformation |
tform2quat | Extract quaternion from homogeneous transformation |
tform2rotm | Extract rotation matrix from homogeneous transformation |
tform2trvec | Extract translation vector from homogeneous transformation |
Latitude, Longitude, NED, and ENU
enu2lla | Transform local east-north-up coordinates to geodetic coordinates (Since R2021a) |
lla2enu | Transform geodetic coordinates to local east-north-up coordinates (Since R2021a) |
lla2ned | Transform geodetic coordinates to local north-east-down coordinates (Since R2021a) |
ned2lla | Transform local north-east-down coordinates to geodetic coordinates (Since R2021a) |
Coordinate Conversions
angdiff | Difference between two angles |
cart2hom | Convert Cartesian coordinates to homogeneous coordinates |
hom2cart | Convert homogeneous coordinates to Cartesian coordinates |
trvec2tform | Convert translation vector to homogeneous transformation |
Trajectory Generation
waypointTrajectory | Waypoint trajectory generator |
kinematicTrajectory | Rate-driven trajectory generator |
Transformations
se2 | SE(2) homogeneous transformation (Since R2022b) |
se3 | SE(3) homogeneous transformation (Since R2022b) |
so2 | SO(2) rotation (Since R2022b) |
so3 | SO(3) rotation (Since R2022b) |
plotTransforms | Plot 3-D transforms from translations and rotations |
transformMotion | Compute motion quantities between two relatively fixed frames (Since R2020a) |
Visualization
poseplot | 3-D pose plot (Since R2021b) |
PosePatch
Properties | Pose plot appearance and behavior (Since R2021b) |
Blocks
Coordinate Transformation Conversion | Convert to a specified coordinate transformation representation |
Featured Examples
Rotations, Orientation, and Quaternions
Reviews concepts in three-dimensional rotations and how quaternions are used to describe orientation and rotations. Quaternions are a skew field of hypercomplex numbers. They have found applications in aerospace, computer graphics, and virtual reality. In MATLAB®, quaternion mathematics can be represented by manipulating the quaternion
class.
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