Convert quaternion to rotation angles
[
calculates the set of rotation angles, rotationAng1
rotationAng2
rotationAng3
] = quat2angle(q
)rotationAng1
,
rotationAng2
, rotationAng3
, for a given quaternion,
q
. The rotation used in this function is a passive transformation
between two coordinate systems.
[
calculates the set of rotation angles rotationAng1
rotationAng2
rotationAng3
] = quat2angle(q
,s
)rotationAng1
,
rotationAng2
, rotationAng3
for a given quaternion,
q
, and a specified rotation sequence, s
.
Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.
The 'ZYX'
, 'ZXY'
, 'YXZ'
,
'YZX'
, 'XYZ'
, and 'XZY'
implementations generate a rotationAng2
angle that lies between
±90 degrees, and rotationAng1
and rotationAng3
angles that lie between ±180 degrees.
The 'ZYZ'
, 'ZXZ'
, 'YXY'
,
'YZY'
, 'XYX'
, and 'XZX'
implementations generate a rotationAng2
angle that lies between 0 and
180 degrees, and rotationAng1
and rotationAng3
angles that lie between ±180 degrees.
angle2dcm
| angle2quat
| dcm2angle
| dcm2quat
| quat2dcm