clc, close all, clear all
format
dx=160; dy=100; dz=120; % euler angles in degree
D2R=pi/180; % for converting degree to radians
rx=dx.*D2R; ry=dy.*D2R; rz=dz.*D2R; % euler angles in radinas
% % x i.e. roll
% % y i.e. pitch
% % z i.e. yaw
% % Quaterion is expressed as Q=[w x y z]
% % w is scalar component of quaternion
% % x,y,z are vector components of quaternion. For example q=w+xi+yj+zk
% % euler2quat converts euler angles to quaternion for six basic sequence
% % of rotations.
% % Allowed rotation sequences: xyz, xzy, yxz, yzx, zxy, zyx
[w,x,y,z]=euler2quat(rx,ry,rz,'xyz'); %order of rotation is 'xyz'
q=[w x y z]
[w,x,y,z]=euler2quat(rx,ry,rz,'xzy'); %order of rotation is 'xzy'
q=[w x y z]
[w,x,y,z]=euler2quat(rx,ry,rz,'yxz'); %order of rotation is 'yxz'
q=[w x y z]
[w,x,y,z]=euler2quat(rx,ry,rz,'yzx'); %order of rotation is 'yzx'
q=[w x y z]
[w,x,y,z]=euler2quat(rx,ry,rz,'zxy'); %order of rotation is 'zxy'
q=[w x y z]
[w,x,y,z]=euler2quat(rx,ry,rz,'zyx'); %order of rotation is 'zyx'
q=[w x y z]
% % % --------------------------------
% % % Author: Dr. Murtaza Khan
% % % Email : drkhanmurtaza@gmail.com
% % % --------------------------------
% Technical Reference: Ken Shoemake, "Animating Rotations with Quaternion Curves"
