Operator Reference

HALCON Operator Reference / Transformations / Quaternions
ClassesClasses | | Operators

quat_to_hom_mat3dT_quat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dquat_to_hom_mat3d (Operator)

quat_to_hom_mat3dT_quat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dquat_to_hom_mat3d — 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)

void QuatToHomMat3d(const HTuple& Quaternion, HTuple* RotationMatrix)

HHomMat3D HQuaternion::QuatToHomMat3d() const

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

HHomMat3D HQuaternion.QuatToHomMat3d()

def quat_to_hom_mat3d(quaternion: Sequence[float]) -> Sequence[float]

Description

The operator quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dquat_to_hom_mat3d converts a unit quaternion QuaternionQuaternionQuaternionquaternionquaternion into its corresponding rotation matrix RotationMatrixRotationMatrixRotationMatrixrotationMatrixrotation_matrix.

The RotationMatrixRotationMatrixRotationMatrixrotationMatrixrotation_matrix for a quaternion is given by:

Attention

RotationMatrixRotationMatrixRotationMatrixrotationMatrixrotation_matrix will only be a valid rotation matrix if QuaternionQuaternionQuaternionquaternionquaternion is a unit quaternion.

Execution Information

  • Multithreading type: reentrant (runs in parallel with non-exclusive operators).
  • Multithreading scope: global (may be called from any thread).
  • Processed without parallelization.

Parameters

QuaternionQuaternionQuaternionquaternionquaternion (input_control)  quaternion → HQuaternion, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Rotation quaternion.

RotationMatrixRotationMatrixRotationMatrixrotationMatrixrotation_matrix (output_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Rotation matrix.

Possible Predecessors

axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat, quat_composequat_composeQuatComposeQuatComposequat_compose

Possible Successors

affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d

See also

axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat, quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dquat_rotate_point_3d, quat_to_posequat_to_poseQuatToPoseQuatToPosequat_to_pose, quat_normalizequat_normalizeQuatNormalizeQuatNormalizequat_normalize, quat_conjugatequat_conjugateQuatConjugateQuatConjugatequat_conjugate, quat_interpolatequat_interpolateQuatInterpolateQuatInterpolatequat_interpolate

Module

Foundation

ClassesClasses | | Operators