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VECTOR_ROTATE

This Xcos block allows to rotate N 3-dimensional vectors.

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Description

This Xcos block allows to rotate N 3-dimensional vectors. Vectors are provided to the second input of the block as 3xN dimensional matrix. Rotation is given in form of the quaternion defined as 4x1 vector [r; i; j; k], where r is the scalar parameter, and [i; j; k] are the imaginary vector parameters. Output is calcuated by performing quaternion rotation of input vectors. Quaternion rotation is performed according to equation: v' = q * v * q^-1, where q is the quaternion, v input vector and v' output vector.

Data types

Dialog box

This block has no dialog box.

Default properties

This block has no cofigurable properties.

Interfacing function

Computational function

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