# Documentation

### This is machine translation

Translated by
Mouseover text to see original. Click the button below to return to the English verison of the page.

# quat2tform

Convert quaternion to homogeneous transformation

## Syntax

``tform = quat2tform(quat)``

## Description

example

````tform = quat2tform(quat)` converts a quaternion, `quat`, to a homogeneous transformation matrix, `tform`. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).```

## Examples

collapse all

```quat = [0.7071 0.7071 0 0]; tform = quat2tform(quat) ```
```tform = 1.0000 0 0 0 0 -0.0000 -1.0000 0 0 1.0000 -0.0000 0 0 0 0 1.0000 ```

## Input Arguments

collapse all

Unit quaternion, specified as an n-by-4 matrix containing n quaternions. Each quaternion, one per row, is of the form q = [w x y z], with w as the scalar number.

Example: `[0.7071 0.7071 0 0]`

## Output Arguments

collapse all

Homogeneous transformation matrix, returned as a 4-by-4-by-n matrix of n homogeneous transformations. When using the rotation matrix, premultiply it with the coordinates to be rotated (as opposed to postmultiplying).

Example: `[0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]`