Quaternion from Rotation Matrix
This block converts a rotation matrix into a unit quaternion.
Library
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/Math Operations/Quaternions')Description
This block convert a rotation matrix into a unit quaternion according to the Euler angle convention selected in the block parameters. All 24 possible combinations of rotations about fixed or relative axes are supported.
Input Ports
R
This input is the rotation matrix to convert to a unit quaternion. The Euler angle convention is determined by the Rotation order parameter.
Output Ports
q
Outputs a unit quaternion.
Parameters and Dialog Box
Rotation order
Selects the Euler angle convention to use. There are 24 different definitions for Euler angles. The classic Euler angles consist of rotations where the first and third axes are the same e.g. a Z-X-Z convention. The roll-pitch-yaw or Tait-Byran angles consist of rotations where all the axes are different e.g. an X-Y-Z convention.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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|
Yes |
Yes |
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|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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