angvel

Angular velocity from quaternion array

Syntax

AV = angvel(quat,dt,"frame")

AV = angvel(quat,dt,"point")

[AV,qf] = angvel(quat,dt,fp,qi)

Description

AV = angvel(quat,dt,"frame") returns the angular velocity array from an array of quaternions, quat. The quaternions in quat correspond to frame rotation. The initial quaternion is assumed to represent zero rotation.

AV = angvel(quat,dt,"point") returns the angular velocity array from an array of quaternions, quat. The quaternions in quat correspond to point rotation. The initial quaternion is assumed to represent zero rotation.

[AV,qf] = angvel(quat,dt,fp,qi) allows you to specify the initial quaternion, qi, and the type of rotation, fp. It also returns the final quaternion, qf.

Examples

Generate Angular Velocity From Quaternion Array

Create an array of quaternions.

eulerAngles = [(0:10:90).',zeros(numel(0:10:90),2)];
q = quaternion(eulerAngles,'eulerd','ZYX','frame');

Specify the time step and generate the angular velocity array.

dt = 1;
av = angvel(q,dt,'frame') % units in rad/s

av = 10×3

         0         0         0
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743
         0         0    0.1743

Input Arguments

quat — Quaternions

N-by-1 vector of quaternion objects

Quaternions, specified as an N-by-1 vector of quaternion objects.

dt — Time step

nonnegative scalar

Time step, specified as a nonnegative scalar.

Data Types: single | double

fp — Type of rotation

"frame" | "point"

Type of rotation, specified as "frame" or "point".

qi — Initial quaternion

quaternion object

Initial quaternion, specified as a quaternion object.

Output Arguments

AV — Angular velocity

N-by-3 real matrix

Angular velocity, returned as an N-by-3 real matrix, where N is the number of quaternions in the quat argument. Each row of the matrix corresponds to an angular velocity vector.

qf — Final quaternion

quaternion object

Final quaternion, returned as a quaternion object. qf is the same as the last quaternion in the quat argument.

Extended Capabilities

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

Version History

Introduced in R2020a