quat2tform

Convert quaternion to homogeneous transformation

Syntax

``tform = quat2tform(quat)``

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 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]`