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).
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 = [wxyz], with w as the scalar
number.
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™.
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