orientation, position, and coordinate systems -凯发k8网页登录

quaternions, euler angles, rotation matrices, and conversions

represent orientation and rotation using the data type. convert between quaternions and euler angles, rotation matrices, and rotation vectors using the , , and functions.

to learn more about quaternion mathematics and how they are implemented in sensor fusion and tracking toolbox™, see . to learn more about conventions and coordinate systems in sensor fusion and tracking toolbox, see .

functions

initialization and convenience functions

	create a quaternion array
	create quaternion array with real parts set to one and imaginary parts set to zero
	create quaternion array with all parts set to zero
	class of parts within quaternion
	quaternion normalization
	uniformly distributed random rotations

mathematics

	element-wise quaternion multiplication
	quaternion multiplication
	product of a quaternion array
	quaternion subtraction
	quaternion unary minus
	complex conjugate of quaternion
	element-wise quaternion left division
	element-wise quaternion right division
	exponential of quaternion array
	natural logarithm of quaternion array
	element-wise quaternion power

metrics and interpolation

	angular distance in radians
	quaternion norm
	angular velocity from quaternion array
	quaternion mean rotation
	spherical linear interpolation

rotations

	quaternion frame rotation
	quaternion point rotation

array manipulation

	complex conjugate transpose of quaternion array
	transpose a quaternion array

representation conversion

	convert quaternion to rotation matrix
	convert quaternion to rotation vector (radians)
	convert quaternion to rotation vector (degrees)
	extract quaternion parts
	convert quaternion to euler angles (radians)
	convert quaternion to euler angles (degrees)
	convert quaternion array to n-by-4 matrix

coordinate transformation

	compute motion quantities between two relatively fixed frames
	transform local east-north-up coordinates to geodetic coordinates
	transform local north-east-down coordinates to geodetic coordinates
	transform geodetic coordinates to local north-east-down coordinates
	transform geodetic coordinates to local east-north-up coordinates

topics

learn about toolbox conventions for spatial representation and coordinate systems.
this example reviews concepts in three-dimensional rotations and how quaternions are used to describe orientation and rotations.
this example shows how to use spherical linear interpolation (slerp) to create sequences of quaternions and lowpass filter noisy trajectories.