<< CL_rot_quat2angles Coordinates and frames CL_rot_quat2eul >>

CelestLab >> Coordinates and frames > CL_rot_quat2axAng

CL_rot_quat2axAng

Quaternion to rotation axis and angle

Calling Sequence

[u,alpha] = CL_rot_quat2axAng(q)

Description

Parameters

u :

Rotation axis [ux;uy;uz] (3xN)

q :

Quaternion (dim N)

alpha :

Rotation angle [rad] (1xN)

Authors

See also

Examples

phi = CL_deg2rad(33);
theta = CL_deg2rad(12);
psi = CL_deg2rad(133);
q = CL_rot_eul2quat(phi,theta,psi);

[u, alpha] = CL_rot_quat2axAng(q)
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