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# Robotics Toolbox for Matlab

Document source : www.dii.unisi.it

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quaternion
47
quaternion
Purpose
Quaternion object
Synopsis
q = quaternion(qq)
q = quaternion(v, theta)
q = quaternion(R)
q = quaternion([s vx vy vz])
Description
quaternion
is the constructor for a quaternion object. The first form returns a new object with the
same value as its argument. The second form initializes the quaternion to a rotation of
theta
the vector
v
.
Examples
A simple example
>> quaternion(1, [1 0 0])
ans =
0.87758 <0.47943, 0, 0>
>> quaternion( rotx(1) )
ans =
0.87758 <0.47943, 0, 0>
>>
The third form sets the quaternion to a rotation equivalent to the given 3
× 3 rotation matrix, or the
rotation submatrix of a 4
× 4 homogeneous transform.
The fourth form sets the four quaternion elements directly where
s
is the scalar component and
[vx
vy vz]
the vector.
All forms, except the last, return a unit quaternion, ie. one whose magnitude is unity.
Some operators are overloaded for the quaternion class
Robotics Toolbox Release 8
Peter Corke, December 2008

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Summary :

## quaternion 47 quaternion Purpose Quaternion object Synopsis q = quaternion(qq) q = quaternion(v, theta) q = quaternion(R) q = quaternion([s vx vy vz]) Description quaternion is the constructor for a quaternion object.

Tags : rotation,form,object,gtgt,ector,087758,sets,ans,theta,lt047943,0gt,quaternion,examples
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