quat2rotm
Convert quaternion to rotation matrix
Syntax
Description
Examples
Convert Quaternion to Rotation Matrix
quat = [0.7071 0.7071 0 0]; rotm = quat2rotm(quat)
rotm = 3×3
1.0000 0 0
0 -0.0000 -1.0000
0 1.0000 -0.0000
Input Arguments
quat
— Unit quaternion
n-by-4 matrix | n-element vector of quaternion
objects
Unit quaternion, specified as an n-by-4 matrix or n-element vector of 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]
Output Arguments
rotm
— Rotation matrix
3-by-3-by-n matrix
Rotation matrix, returned as a 3-by-3-by-n matrix containing n rotation matrices. Each rotation matrix has a size of 3-by-3 and is orthonormal. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).
Example: [0 0 1; 0 1 0; -1 0 0]
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2015a
See Also
rotm2quat
| quaternion
| so2
| so3
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