quatnorm

Calculate norm of quaternion

Syntax

norm = quatnorm(q)

Description

norm = quatnorm(q) calculates the norm norm for a given quaternion, q. For more information on the quaternion and quaternion norm forms, see Algorithms.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.

Examples

Determine Norm of Quaternion

Determine the norm of q = [.5 -.5 .5 0].

norm=quatnorm([.5 -.5 .5 0])

norm = 
0.7500

Input Arguments

q — quaternion matrix

m-by-4 matrix of real numbers

Quaternion matrix, specified in an m-by-4 matrix of real numbers containing m quaternions.

Example: [1 0 0 0]

Data Types: double

Output Arguments

norm — Norms

column vector

Norms, returned as a column vector of m norms.

Algorithms

The quaternion has the form of

$$q=q_0+i{q}_1+j{q}_2+k{q}_3.$$

The quaternion norm has the form of

$$norm(q)=q_0^2+q_1^2+q_2^2+q_3^2.$$

References

[1] Stevens, Brian L. and Frank L. Lewis. Aircraft Control and Simulation. 2nd ed. Wiley–Interscience, 2003.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

Code generation for this function requires the Aerospace Blockset™ software.

Version History

Introduced in R2006b