rotm2quat
Convert rotation matrix to quaternion
Syntax
Description
Examples
Convert Rotation Matrix to Quaternion
Input Arguments
rotm
— Rotation matrix
3-by-3-by-n matrix
Rotation matrix, specified 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. The input rotation matrix must be in the premultiply form for rotations.
Note
Rotation matrices that are slightly non-orthonormal can give complex outputs. Consider validating your matrix before inputting to the function.
Example: [0 0 1; 0 1 0; -1 0 0]
Output Arguments
quat
— Unit quaternion
n-by-4 matrix
Unit quaternion, returned as an n-by-4 matrix containing n quaternions. Each quaternion, one per row, is of the form q = [w x y z], with w as the scalar number.
Example: [0.7071 0.7071 0 0]
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2015a
See Also
quat2rotm
| so3
| quaternion
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