quat2tform

Convert quaternion to homogeneous transformation

Description

example

tform = quat2tform(quat) converts a quaternion, quat, to a homogeneous transformation matrix, tform. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).

Examples

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quat = [0.7071 0.7071 0 0];
tform = quat2tform(quat)
tform = 4×4

1.0000         0         0         0
0   -0.0000   -1.0000         0
0    1.0000   -0.0000         0
0         0         0    1.0000

Input Arguments

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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]

Output Arguments

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Homogeneous transformation matrix, returned as a 4-by-4-by-n matrix of n homogeneous transformations. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: [0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]