CMSIS-DSP  Version 1.10.0
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Rotation to Quaternion

Functions

void arm_rotation2quaternion_f32 (const float32_t *pInputRotations, float32_t *pOutputQuaternions, uint32_t nbQuaternions)
 Conversion of a rotation matrix to an equivalent quaternion. More...
 

Description

Conversions from rotation to quaternion.

Function Documentation

void arm_rotation2quaternion_f32 ( const float32_t pInputRotations,
float32_t pOutputQuaternions,
uint32_t  nbQuaternions 
)

Conversion of a rotation matrix to equivalent quaternion.

Parameters
[in]pInputRotationspoints to an array 3x3 rotation matrix (in row order)
[out]pOutputQuaternionspoints to an array quaternions
[in]nbQuaternionsnumber of quaternions in the array
Returns
none.

q and -q are representing the same rotation. This ambiguity must be taken into account when using the output of this function.