quat2rotm

Convert quaternion to rotation matrix

Description

example

rotm = quat2rotm(quat) converts a quaternion quat to an orthonormal rotation matrix, rotm. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Examples

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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

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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

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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]