clear
clc
vartheta_c=0.1;
fea_c=0.1;
gamma_c=0;
q1=sin(fea_c/2)*sin(vartheta_c/2)*cos(gamma_c/2)+cos(fea_c/2)*cos(vartheta_c/2)*sin(gamma_c/2);
q2=sin(fea_c/2)*cos(vartheta_c/2)*cos(gamma_c/2)+cos(fea_c/2)*sin(vartheta_c/2)*sin(gamma_c/2);
q3=cos(fea_c/2)*sin(vartheta_c/2)*cos(gamma_c/2)-sin(fea_c/2)*cos(vartheta_c/2)*sin(gamma_c/2);
q4=cos(fea_c/2)*cos(vartheta_c/2)*cos(gamma_c/2)-sin(fea_c/2)*sin(vartheta_c/2)*sin(gamma_c/2);
Dt=0.001;
n=1;
t=0;
for i=1:5000
if t<1.5
vartheta_c=vartheta_c;
fea_c=fea_c;
gamma_c=gamma_c;
else
vartheta_c=vartheta_c-Dt*pi/180;
fea_c=fea_c+Dt*pi/180;
gamma_c=gamma_c+Dt*pi/180;
end
q1_c=sin(fea_c/2)*sin(vartheta_c/2)*cos(gamma_c/2)+cos(fea_c/2)*cos(vartheta_c/2)*sin(gamma_c/2);
q2_c=sin(fea_c/2)*cos(vartheta_c/2)*cos(gamma_c/2)
(源代码)四元数与欧拉角间的转换
最新推荐文章于 2024-07-01 16:17:14 发布
本文通过MATLAB代码展示了如何进行四元数与欧拉角之间的转换。通过动态改变欧拉角,观察四元数的变化,并将转换结果以图形方式展示,包括γ、θ和ψ三个角度以及四元数q1~q4随时间的变化。
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