coordinate transformations and trajectories -凯发官方首页

quaternions, rotation matrices, transformations, trajectory generation

navigation toolbox™ provides functions for transforming coordinates and units into the format required for your applications. use these functions to easily convert specific coordinates from one representation to the other.

functions

axis-angles

	convert axis-angle rotation to quaternion
	convert axis-angle rotation to rotation matrix
	convert axis-angle rotation to homogeneous transformation

euler angles

	convert euler angles to quaternion
	convert euler angles to rotation matrix
	convert euler angles to homogeneous transformation

quaternions

	create a quaternion array
	convert quaternion to axis-angle rotation
	convert quaternion to euler angles
	convert quaternion to rotation matrix
	convert quaternion to homogeneous transformation

rotation matrices

	so(3) rotation
	convert rotation matrix to axis-angle rotation
	convert rotation matrix to euler angles
	convert rotation matrix to quaternion
	convert rotation matrix to homogeneous transformation

homogeneous transformations

	se(3) homogeneous transformation
	convert homogeneous transformation to axis-angle rotation
	extract euler angles from homogeneous transformation
	extract quaternion from homogeneous transformation
	extract rotation matrix from homogeneous transformation
	extract translation vector from homogeneous transformation

latitude, longitude, ned, and enu

	transform local east-north-up coordinates to geodetic coordinates
	transform geodetic coordinates to local east-north-up coordinates
	transform geodetic coordinates to local north-east-down coordinates
	transform local north-east-down coordinates to geodetic coordinates

coordinate conversions

	difference between two angles
	convert cartesian coordinates to homogeneous coordinates
	convert homogeneous coordinates to cartesian coordinates
	convert translation vector to homogeneous transformation

trajectory generation

	waypoint trajectory generator
	rate-driven trajectory generator

transformations

	se(2) homogeneous transformation
	se(3) homogeneous transformation
	so(2) rotation
	so(3) rotation
	plot 3-d transforms from translations and rotations
	compute motion quantities between two relatively fixed frames

visualization

	3-d pose plot
	pose plot appearance and behavior

blocks

convert to a specified coordinate transformation representation