CL_rot_quat2eul

Description

• This function is deprecated.

  Replacement function: CL_rot_quat2angles

• Computes the Euler angles (rotation order: 1,2,3) that corresponds to a given quaternion.

  

• Notes:

  - One should be aware of singularities in the Euler angles when the second angle (theta) approaches +pi, -pi, +pi/2 or -pi/2. These cases should be handled specifically or results might not be accurate!

  - See Data types or CL_rot_defQuat for more details on quaternions.

Parameters

q :

Quaternion (dim N)

phi :

Rotation angle around X axis [rad] (1xN)

theta :

Rotation angle around Y axis [rad] (1xN)

psi :

Rotation angle around Z axis [rad] (1xN)

Authors

• CNES - DCT/SB

Bibliography

• 1) Mecanique spatiale - CNES Cepadues 1995, Tome I, 7.2.2.3 Les quaternions

See also

• CL_rot_eul2quat

• CL_rot_defQuat

Examples

M = CL_rot_angles2matrix([1,2,3], [0.5; 1.1; 2.3]); q = CL_rot_matrix2quat(M); // quaternion of this rotation [phi,theta,psi] = CL_rot_quat2eul(q)