Name
CL_rot_eul2quat — Euler '123' angles to quaternion
Calling Sequence
[q] = CL_rot_eul2quat(phi,theta,psi)
Description
-
Computes the quaternion q given Euler angles (rotation order (123))phi, theta and psi.

- Last update : 3/6/2008
Parameters
- phi:
rotation angle about the X axis [rad] (1xN)
- theta:
rotation angle about the Y axis [rad] (1xN)
- psi:
rotation angle about the Z axis [rad] (1xN)
- q:
quaternion (dim N)
Bibliography
Mecanique spatiale - CNES Cepadues 1995, Tome I, 7.2.2.3 Les quaternions
Examples
// Example 1
phi = %pi/8
theta = %pi/3
psi = %pi/2
q = CL_rot_eul2quat(phi,theta,psi);
[phi2,theta2,psi2] = CL_rot_quat2eul(q);
R = [phi;theta;psi]; //reference values
S = [phi2;theta2;psi2]; //solution