Table of Contents > QUARC > Blocks > Blocks - By Category > Block Categories > Math Operations
Quaternion Blocks
The quaternion blocks include standard operations on quaternions, such as the product and inverse, as well as rotations and transformations to other representations. Translation is simply the sum of two quaternions (using the
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_matlab_help('sum');MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_matlab_help('product');
QUARC uses the Coutsias 1999 and Schmidt 2001 representation of a quaternion, in which the scalar is the first element
in the 4-vector. This representation is more consistent with quaternions as an extension of the complex numbers.
In other words, quaternions are represented as q = [q0, q1, q2, q3]
where:
q = q0 + q1 i + q2 j + q3 k
The quaternion blocks provided in QUARC are:
Computes the conjugate of a quaternion. |
|
Creates a quaternion from an axis/angle representation. |
|
Creates a quaternion from an Euler angle representation. |
|
Creates a quaternion from a rotation matrix representation. |
|
Computes the inverse of a quaternion. |
|
Computes the product of two quaternions. |
|
Computes the Jacobian of the product of two quaternions with respect to either quaternion. |
|
Computes the Jacobian of the rotation of one quaternion by another, with respect to the quaternion containing the rotation. |
|
Uses a quaternion to rotate a vector. |
|
Converts a quaternion to an axis/angle representation. |
|
Converts a quaternion to an Euler angle representation. |
|
Converts a quaternion to a rotation matrix. |
|
Converts a quaternion to a homogeneous transformation. |
Copyright ©2024 Quanser Inc. This page was generated 2024-10-17. Submit feedback to Quanser about this page.
Link to this page.