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% convert froma rotation vector in radians to a quaternion |
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function quaternion = RotToQuat(rotVec) |
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vecLength = sqrt(rotVec(1)^2 + rotVec(2)^2 + rotVec(3)^2); |
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if vecLength < 1e-6 |
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quaternion = [1;0;0;0]; |
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else |
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quaternion = [cos(0.5*vecLength); rotVec/vecLength*sin(0.5*vecLength)]; |
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end |
