/Utilities/Eul2Quat.m

https://github.com/softec17/GRETAA · MATLAB · 22 lines · 12 code · 4 blank · 6 comment · 0 complexity · c937ccf308f5636bc504a82073aafbf5 MD5 · raw file 

    

  1. function [q0,q1,q2,q3] = Eul2Quat(bank,pitch,azimuth)

    2. 

  2. % Takes Euler angles and calculates the equivalent quaternion

    3. 

  3. % Inputs

    4. 

  4. % bank,pitch,azimuth = Euler angles (rad) in 1,2,and 3 axis

    5. 

  5. %

    6. 

  6. % Outputs

    7. 

  7. % q0,q1,q2,q3 = quaternions with q0 being the "scalar" value

    8. 

  8. 

    9. 

  9. theta1 = azimuth;

    10. 

  10. theta2 = pitch;

    11. 

  11. theta3 = bank;

    12. 

  12. 

    13. 

  13. t1 = theta1/2;

    14. 

  14. t2 = theta2/2;

    15. 

  15. t3 = theta3/2;

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  16. 

    17. 

  17. q0 = cos(t1)*cos(t2)*cos(t3)+sin(t1)*sin(t2)*sin(t3);

    18. 

  18. q1 = cos(t1)*cos(t2)*sin(t3)-sin(t1)*sin(t2)*cos(t3);

    19. 

  19. q2 = cos(t1)*sin(t2)*cos(t3)+sin(t1)*cos(t2)*sin(t3);

    20. 

  20. q3 = sin(t1)*cos(t2)*cos(t3)-cos(t1)*sin(t2)*sin(t3);

    21. 

  21. 

    22. 

  22. return
    23.