Examples
q = CL_rot_angles2quat([3], %pi/2); [u, alpha] = CL_rot_quat2axAng(q) |  |  |
Quaternion to rotation axis and angle
[u,alpha] = CL_rot_quat2axAng(q)
Converts a quaternion into rotation axis and angle.
Notes:
- The returned angle (alpha) is in the range [-pi, pi] (miminal rotation angle).
- The returned rotation axis either has a norm equal to 1 or is [0;0;0]. It can be [0;0;0] if the input quaternion corresponds to Identity, in which case the rotation axis is undefined.
- If q is close to the null quaternion, the rotation axis and angle are set to %nan.
- See Data types for more details on quaternions.
Quaternion (dim N)
Rotation axis [ux; uy; uz] (3xN)
Rotation angle [rad] (1xN)
CNES - DCT/SB
q = CL_rot_angles2quat([3], %pi/2); [u, alpha] = CL_rot_quat2axAng(q) | | |