quaternion
Class: simscape.multibody.Rotation
Namespace: simscape.multibody
Syntax
Description
Q = quaternion(
computes the unit quaternion
of the desired rotation, R
)R
and returns a 4-by-1 unit vector,
,
where:
,
and
.
θ is the angle of rotation and [Ux,
Uy,
Uz] is the unit vector of the rotational axis. Note that for any given
rotation, there are two unit quaternions that are negatives of each other, but represent the
same rotation. For example, the quaternions [1
0
0
0
] and [-1
0
0
0
] both represent the identity rotation.
Input Arguments
Output Arguments
Version History
Introduced in R2022a
See Also
simscape.multibody.Rotation
| quaternion
(Robotics System Toolbox)