Examples
// 90 degree rotation around Z axis : q = CL_rot_axAng2quat([0;0;1], %pi/2) |  |  |
Rotation axis and angle to quaternion
q = CL_rot_axAng2quat(u,alpha)
Computes the quaternion q that corresponds to the rotation of angle alpha around the axis u.
Notes:
- The output quaternion has a norm equal to 1.
- For compatibility reasons, the argument order (alpha, u) is also possible. A warning message is issued in this case.
- The vector u may not have a norm equal to 1. In the particular case where u is equal to [0;0;0], the output quaternion q corresponds to Identity (by convention).
- See Data types for more details on quaternions.
Rotation axis [ux; uy; uz] (3xN or 3x1)
Rotation angle [rad] (1xN or 1x1)
Corresponding quaternion (dim N)
CNES - DCT/SB
// 90 degree rotation around Z axis : q = CL_rot_axAng2quat([0;0;1], %pi/2) | | |