Quaternions are vectors used for computing rotations in mechanics, aerospace, computer graphics, vision processing, and other applications. They consist of four elements: three that extend the commonly known imaginary number and one that defines the magnitude of rotation. Quaternions are commonly denoted as:
q = w + x*i + y*j + z*k where i² = j² = k² = i*j*k = -1
This rotation format requires less computation than a rotation matrix.
Common tasks for using quaternion include:
See also: MATLAB, Aerospace Toolbox, Simulink, Aerospace Blockset, Euler angles, linearization, numerical analysis, design optimization, real-time simulation, Monte Carlo simulation, model-based testing