Name

CL_rot_axAng2quat — Rotation axis and angle to quaternion

Calling Sequence

   [q] = CL_rot_axAng2quat(alpha,u)
   
   

Description

  • Computes the quaternion q associated at the alpha rotation around the axe u.

    where alpha is a simple rotation angle and cos(beta_x), cos(beta_y) and cos(beta_z) are the "direction cosines" locating the axis of rotation u (Euler's Theorem)

  • Last update : 24/4/2008

Parameters

alpha:

angle (1xN)

u:

rotation axe (3xN) (each column represents an axe)

q:

quaternion (dim N)

Authors

CNES - DCT/SB

See also

CL_rot_defQuat

Examples

ang = CL_deg2rad(10)
q1 = CL_rot_axAng2quat(ang,[0;0;1])  //rotation of ang on Z axis
q2 = CL_rot_eul2quat(0,0,ang)        //same as q1
M = at_dmrot(3,ang)
q3 = at_rot2quat(M)           //same as q1