quat2eul

Convert quaternion to Euler angles

Description

example

eul = quat2eul(quat) converts a quaternion rotation, quat, to the corresponding Euler angles, eul. The default order for Euler angle rotations is "ZYX".

example

eul = quat2eul(quat,sequence) converts a quaternion into Euler angles. The Euler angles are specified in the axis rotation sequence, sequence. The default order for Euler angle rotations is "ZYX".

Examples

collapse all

quat = [0.7071 0.7071 0 0];
eulZYX = quat2eul(quat)
eulZYX = 1×3

0         0    1.5708

quat = [0.7071 0.7071 0 0];
eulZYZ = quat2eul(quat,'ZYZ')
eulZYZ = 1×3

1.5708   -1.5708   -1.5708

Input Arguments

collapse all

Unit quaternion, specified as an n-by-4 matrix or n-element vector of quaternion objects containing n quaternions. If the input is a matrix, each row is a quaternion vector of the form q = [w x y z], with w as the scalar number.

Example: [0.7071 0.7071 0 0]

Axis rotation sequence for the Euler angles, specified as one of these string scalars:

• "ZYX" (default) – The order of rotation angles is z-axis, y-axis, x-axis.

• "ZYZ" – The order of rotation angles is z-axis, y-axis, z-axis.

• "XYZ" – The order of rotation angles is x-axis, y-axis, z-axis.

Data Types: string | char

Output Arguments

collapse all

Euler rotation angles in radians, returned as an n-by-3 array of Euler rotation angles. Each row represents one Euler angle set.

Example: [0 0 1.5708]