Convert from rotation Quaternions to Euler Vectors

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Description

Q2EV converts from Quaternions (Q) to Euler Vectors (EV).

Usage

1
Q2EV(Q, tol = 10 * .Machine$double.eps, ichk = FALSE, ignoreAllChk = FALSE)

Arguments

Q

Quaternion (Q) vector [q1, q2, q3, q4].

tol

Tolerance from deviations from unity for the determinant of rotation matrices or the the vector length for unitary vectors.

ichk

Logical, FALSE=disables near-singularity warnings.

ignoreAllChk

Logical, TRUE=disables all warnings and error checks (use with caution!).

Value

Euler Vectors (EV) vector [m1, m2, m3, MU].

Author(s)

Jose Gama

References

by John Fuller, 14 Jul 2008 SpinCalc, Function to Convert between DCM, Euler angles, Quaternions, and Euler vectors. http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm–euler-angles–quaternions–and-euler-vectors

Paolo de Leva, 01 May 2013 SpinConv, Conversion from a rotation representation type to another. http://www.mathworks.com/matlabcentral/fileexchange/41562-spinconv

See Also

EV2Q

Examples

1
2
Q <- c(-0.1677489, -0.7369231, -0.3682588, 0.5414703)
Q2EV(Q)

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