Quaternions

Note that all these functions work with single quaternions and quaternion vectors, as well as with arrays containing these.

Quaternion class

  • quat.Quaternion ... Quaternion class

Functions for working with quaternions

  • quat.quatconj() ... Conjugate quaternion
  • quat.quatinv() ... Quaternion inversion
  • quat.quatmult() ... Quaternion multiplication

Conversion routines

  • quat.deg2quat() ... Convert number or axis angles to quaternion vectors
  • quat.quat2deg() ... Convert quaternion to corresponding axis angle
  • quat.quat2rotmat() ... Convert quaternion to corresponding rotation matrix
  • quat.quat2vect() ... Extract the vector part from a quaternion
  • quat.quat2vel() ... Calculates the velocity in space from quaternions
  • quat.rotmat2quat() ... Convert a rotation matrix to the corresponding quaternion
  • quat.vect2quat() ... Extend a quaternion vector to a unit quaternion.
  • quat.vel2quat() ... Calculate orientation from a starting orientation and angular velocity.

Details