HALCON Reference Manual 10.0.2
Table of Contents / Transformations / Quaternions ClassesClassesClasses | | | Operators

quat_to_hom_mat3dT_quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d (Operator)

Name

quat_to_hom_mat3dT_quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d — Convert a quaternion into the corresponding rotation matrix.

Signature

quat_to_hom_mat3d( : : Quaternion : RotationMatrix)

Herror T_quat_to_hom_mat3d(const Htuple Quaternion, Htuple* RotationMatrix)

Herror quat_to_hom_mat3d(const HTuple& Quaternion, HTuple* RotationMatrix)

void HOperatorSetX.QuatToHomMat3d(
[in] VARIANT Quaternion, [out] VARIANT* RotationMatrix)

IHHomMat3DX* HQuaternionX.QuatToHomMat3d()

static void HOperatorSet.QuatToHomMat3d(HTuple quaternion, out HTuple rotationMatrix)

HHomMat3D HQuaternion.QuatToHomMat3d()

Description

The operator quat_to_hom_mat3dquat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d converts a unit quaternion QuaternionQuaternionQuaternionQuaternionquaternion into its corresponding rotation matrix RotationMatrixRotationMatrixRotationMatrixRotationMatrixrotationMatrix.

The RotationMatrixRotationMatrixRotationMatrixRotationMatrixrotationMatrix for a quaternion x = x_{0} + x_{1}*i + x_{2}*j + x_{3}*k is given by: 

/ x_0^2+x_1^2-x_2^2-x_3^2  2*x_1*x_2-2*x_0*x_3      2*x_0*x_2+2*x_1*x_3     \
| 2*x_0*x_3+2*x_1*x_2      x_0^2-x_1^2+x_2^2-x_3^2  2*x_2*x_3-2*x_0*x_1     |
\ 2*x_1*x_3-2*x_0*x_2      2*x_0*x_1+2_x_2*x_3      x_0^2-x_1^2-x_2^2+x_3^2 /

Attention

RotationMatrixRotationMatrixRotationMatrixRotationMatrixrotationMatrix will only be a valid rotation matrix if QuaternionQuaternionQuaternionQuaternionquaternion is a unit quaternion!

Parallelization

Parameters

QuaternionQuaternionQuaternionQuaternionquaternion (input_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

Rotation quaternion.

RotationMatrixRotationMatrixRotationMatrixRotationMatrixrotationMatrix (output_control)  hom_mat3d-array → HHomMat3D, HTupleHTupleHHomMat3DX, VARIANTHtuple (real) (double) (double) (double) (double)

Rotation matrix.

Possible Predecessors

axis_angle_to_quataxis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat, quat_composequat_composequat_composeQuatComposeQuatCompose

Possible Successors

affine_trans_point_3daffine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d

See also

axis_angle_to_quataxis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat, quat_rotate_point_3dquat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d, quat_to_posequat_to_posequat_to_poseQuatToPoseQuatToPose, quat_normalizequat_normalizequat_normalizeQuatNormalizeQuatNormalize, quat_conjugatequat_conjugatequat_conjugateQuatConjugateQuatConjugate, quat_interpolatequat_interpolatequat_interpolateQuatInterpolateQuatInterpolate

Module

Foundation

Table of Contents / Transformations / Quaternions ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH