Quaternion to Euler Angles
This block converts a unit quaternion to Euler angles.
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 unit quaternion to Euler angles according to the Euler angle convention selected in the block parameters. All 24 possible combinations of rotations about fixed or relative axes are supported.
The block assumes the input is a unit quaternion in order to reduce its computation time, particularly since most of the Quaternion blocks deal with unit quaternions. To normalize a quaternion in order to get a unit quaternion, use the Normalize block, which can normalize vectors or quaternions.
Input Ports
q
The unit quaternion to convert to Euler angles.
Output Ports
phi
This output is the angle in radians for the first rotation. The axis is determined by the first axis in the rotation order selected in the Rotation order parameter.
theta
This output is the angle in radians for the second rotation. The axis is determined by the second axis in the rotation order selected in the Rotation order parameter.
psi
This output is the angle in radians for the third rotation. The axis is determined by the third axis in the rotation order selected in the Rotation order parameter.
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
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
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Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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