Quaternion Conjugate

Calculate conjugate of quaternion

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Libraries:
Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Conjugate block calculates the conjugate for a given quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. For more information on quaternion forms, see Algorithms

Ports

Input

q — Input quaternion

quaternion | vector of quaternions

Quaternions in the form of [q₀, r₀, ... , q₁, r₁, ... , q₂, r₂, ... , q₃, r₃, ...], specified as a quaternion or vector.

Data Types: double | bus

Output

q' — Quaternion conjugate

quaternion conjugate | vector of quaternion conjugates

Quaternion conjugates in the form of [q₀′, r₀′, ... , q₁′, r₁′, ... , q₂′, r₂′, ... , q₃′, r₃′, ...], returned as a quaternion or vector.

Data Types: double | bus

Algorithms

The quaternion has the form of

$$q=q_0+i{q}_1+j{q}_2+k{q}_3.$$

The quaternion conjugate has the form of

$$q^{\prime }=q_0-i{q}_1-j{q}_2-k{q}_3.$$

References

[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced before R2006a