Orientation, Position, and Coordinate Systems
To learn more about quaternion mathematics and how they are implemented in Sensor Fusion and Tracking Toolbox™, see Rotations, Orientation, and Quaternions. To learn more about conventions and coordinate systems in Sensor Fusion and Tracking Toolbox, see Orientation, Position, and Coordinate Convention.
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|
|Uniformly distributed random rotations|
|Element-wise quaternion multiplication|
|Product of a quaternion array|
|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
|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|
|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|
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.