This is machine translation

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

Note: This page has been translated by MathWorks. Click here to see
To view all translated materials including this page, select Country from the country navigator on the bottom of this page.


Convert quaternion to homogeneous transformation


tform = quat2tform(quat)



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).


collapse all

quat = [0.7071 0.7071 0 0];
tform = quat2tform(quat)
tform = 4×4

    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 or n-element vector of quaternion objects containing n quaternions. If the input is a matrix, each row is a quaternion vector 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]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2015a