You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
9 lines
436 B
9 lines
436 B
10 years ago
|
% Convert from a quaternion to a 321 Euler rotation sequence in radians
|
||
|
|
|
||
|
|
function Euler = QuatToEul(quat)
|
||
|
|
|
||
|
|
Euler = zeros(3,1);
|
||
|
|
|
||
|
|
Euler(1) = atan2(2*(quat(3)*quat(4)+quat(1)*quat(2)), quat(1)*quat(1) - quat(2)*quat(2) - quat(3)*quat(3) + quat(4)*quat(4));
|
||
|
|
Euler(2) = -asin(2*(quat(2)*quat(4)-quat(1)*quat(3)));
|
||
|
|
Euler(3) = atan2(2*(quat(2)*quat(3)+quat(1)*quat(4)), quat(1)*quat(1) + quat(2)*quat(2) - quat(3)*quat(3) - quat(4)*quat(4));
|