quat2tform

Convert quaternion to homogeneous transformation

Syntax

tform = quat2tform(quat)

Description

tform = quat2tform(quat) converts a quaternion, quat, to a homogeneous transformation matrix, tform. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).

Examples

Convert Quaternion to Homogeneous Transformation

quat = [0.7071 0.7071 0 0];
tform = quat2tform(quat)

tform = 4×4

    1.0000         0         0         0
         0   -0.0000   -1.0000         0
         0    1.0000   -0.0000         0
         0         0         0    1.0000

Input Arguments

quat — Unit quaternion

n-by-4 matrix | n-element vector of quaternion objects

Unit quaternion, specified as an n-by-4 matrix or n-element vector of objects containing n quaternions. If the input is a matrix, each row is a quaternion vector of the form q = [w x y z], with w as the scalar number.

Example: [0.7071 0.7071 0 0]

Output Arguments

tform — Homogeneous transformation

4-by-4-by-n matrix

Homogeneous transformation matrix, returned as a 4-by-4-by-n matrix of n homogeneous transformations. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: [0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a