CL_rot_defQuat

Description

• Returns a quaternion defined by its real and imaginary components.

  The quaternion components may be defined in several ways:

  - real part (r) and imaginary part (i1,i2,i3) = 4 arguments.

  - real part (r) and imaginary part (i) = 2 arguments.

  - real and imaginary part (ri) = 1 argument.

  - real and imaginary part (ri) + order = 2 arguments. The order helps determine the position of the real part in the 4-component vector.

  => order = "ri": the input vector corresponds to [r,i1,i2,i3] (real part first).

  => order = "ir": the input vector corresponds to [i1,i2,i3,r] (real part last).

• Notes:

  - The quaternion as defined is NOT normalized.

Parameters

r, i1, i2, i3 :

Real and Imaginary components (1xN)

r, i :

Real part (1xN) and Imaginary part (3xN)

ri :

Real and imaginary part (4xN)

ri, order :

Real and imaginary part (4xN) and order ('ri' or 'ir' : see above).

q :

Quaternion (dim N)

Authors

• CNES - DCT/SB

Examples

// Example 1: All the following calls return the same quaternion: q = CL_rot_defQuat(1, 2, 3, 4) q = CL_rot_defQuat(1, [2; 3; 4]) q = CL_rot_defQuat([1; 2; 3; 4]) q = CL_rot_defQuat([1; 2; 3; 4], "ri" ) // (real part first) q = CL_rot_defQuat([2; 3; 4; 1], "ir" ) // (real part last) // Example 2: 1000 random quaternions q = CL_rot_defQuat(rand(4,1000));