quaternion class, vectorized, converts among rotation representations, numerical Euler propagation
Updated 24 Aug 2017

View License

quaternion.m is a matlab class that implements quaternion mathematical operations, 3 dimensional rotations, transformations of rotations among several representations, and numerical propagation of Euler’s equations for rotational motion. All quaternion.m class methods except PropagateEulerEq are fully vectorized.

Cite As

Mark Tincknell (2024). quaternion (https://www.mathworks.com/matlabcentral/fileexchange/33341-quaternion), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2013b
Compatible with any release
Platform Compatibility
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!
Version Published Release Notes

Fixed bug noted by Nathan Pust (thank you!) in rotationmatrix, updated RotationMatix, updated OmegaAxis, fixed bug in equiv.

Changes: revised error messages, corrected repmat syntax
New methods: ComplexMatrix, complexmatrix, integrateomega, Integral, ModifiedRodrigues, modifiedrodrigues, Rodrigues, rodrigues, RotateTensor

Added missing unitvector function for OmegaAxis method

change normalize, rand; fix isequal*, rotateutov; add dot, interp1, randRot

added quaternion.OmegaAxis to get angular velocity vectors from time series of quaternions

A few new methods and small bug fixes

fixed bugs, added some new methods