<< qunit Quaternion SerialLink >>

Robotics_Toolbox >> Robotics_Toolbox > Quaternion > tr2q

tr2q

Convert homogeneous transform to a unit-quaternion

Calling Sequence

Q = tr2q(T)

Description

Return a unit-quaternion corresponding to the rotational part of the homogeneous transform T.

See also

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<< qunit Quaternion SerialLink >>