Main Content
rotmat
Description
converts the quaternion, rotationMatrix
= rotmat(quat
,rotationType
)quat
, to an equivalent rotation matrix
representation.
Examples
Input Arguments
Output Arguments
Algorithms
Given a quaternion of the form
the equivalent rotation matrix for frame rotation is defined as
The equivalent rotation matrix for point rotation is the transpose of the frame rotation matrix:
References
[1] Kuipers, Jack B. Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality. Princeton, NJ: Princeton University Press, 2007.
Extended Capabilities
Version History
Introduced in R2020a