xyzquat
Convert transformation or rotation to compact 3-D pose representation
Since R2023a
Description
Examples
Convert SE(3) Transformation to 3-D Compact Pose
Create SE(3) transformation with an xyz-position of [2 3 1]
and a rotation defined by a numeric quaternion. Use the eul2quat
function to create the numeric quaternion.
trvec = [2 3 1]; quat1 = eul2quat([0 0 deg2rad(30)]); pose1 = [trvec quat1]
pose1 = 1×7
2.0000 3.0000 1.0000 0.9659 0.2588 0 0
T = se3(pose1,"xyzquat")
T = se3
1.0000 0 0 2.0000
0 0.8660 -0.5000 3.0000
0 0.5000 0.8660 1.0000
0 0 0 1.0000
Convert the transformation back into a compact pose.
pose2 = xyzquat(T)
pose2 = 1×7
2.0000 3.0000 1.0000 0.9659 0.2588 0 0
Convert SO(3) Rotation to 3-D Compact Pose
Create SO(3) rotation defined by a numeric quaternion. Use the eul2quat
function to create the numeric quaternion.
quat1 = eul2quat([0 0 deg2rad(30)])
quat1 = 1×4
0.9659 0.2588 0 0
R = so3(quat1,"quat")
R = so3
1.0000 0 0
0 0.8660 -0.5000
0 0.5000 0.8660
Convert the rotation into a 3-D compact pose.
pose1 = xyzquat(R)
pose1 = 1×7
0 0 0 0.9659 0.2588 0 0
Input Arguments
transformation
— Transformation
se3
object | N-element array of se3
objects
Transformation, specified as an se3
object or as an
N-element array of se3
objects.
N is the total number of transformations.
rotation
— Rotation
so3
object | N-element array of so3
objects
Rotation, specified as an so3
object or as an
N-element array of so3
objects.
N is the total number of rotations.
Output Arguments
pose
— 3-D compact pose
M-by-3 matrix
3-D compact pose, returned as an M-by-3 matrix, where each row is of the form [x y z qw qx qy qz]. M is the total number of transformations specified. x, y, z comprise the xyz-position and qw, qx, qy, and qz comprise the quaternion rotation.
Version History
Introduced in R2023a
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