Convert axis-angle rotation to quaternion
axang = [1 0 0 pi/2]; quat = axang2quat(axang)
quat = 1×4 0.7071 0.7071 0 0
axang— Rotation given in axis-angle form
Rotation given in axis-angle form, specified as an n-by-4 matrix of n axis-angle rotations. The first three elements of every row specify the rotation axis, and the last element defines the rotation angle (in radians).
[1 0 0 pi/2]
quat— Unit quaternion
Unit quaternion, returned as an n-by-4 matrix containing n quaternions. Each quaternion, one per row, is of the form q = [w x y z], with w as the scalar number.
[0.7071 0.7071 0 0]