axis_angle_to_quatT_axis_angle_to_quatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat (Operator)

Name

axis_angle_to_quatT_axis_angle_to_quatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat — Create a rotation quaternion.

Signature

Description

Quaternions are an extension of the complex numbers. The set of quaternions is given by . In HALCON, quaternions are represented by a tuple containing four elements: [x_{0},x_{1},x_{2},x_{3}].

Unit quaternions can be used to describe rotations. A quaternion is a unit quaternion if its norm is 1. A counterclockwise rotation around an unit vector v (AxisXAxisXAxisXAxisXaxisXaxis_x, AxisYAxisYAxisYAxisYaxisYaxis_y, AxisZAxisZAxisZAxisZaxisZaxis_z) by an angle a (AngleAngleAngleAngleangleangle) can be described by the unit quaternion q =(cos(a/2), sin(a/2) v).

The operator axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat can be used to create such a quaternion. To rotate a point using QuaternionQuaternionQuaternionQuaternionquaternionquaternion use the operator quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3dquat_rotate_point_3d.

Note that two rotations can be concatenated using the operator quat_composequat_composeQuatComposeQuatComposeQuatComposequat_compose. Further, you can use a rotation quaternion to set the orientation of the 3D plot in set_paintset_paintSetPaintSetPaintSetPaintset_paint.

Attention

The operator axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat does not check whether the vector (AxisXAxisXAxisXAxisXaxisXaxis_x, AxisYAxisYAxisYAxisYaxisYaxis_y, AxisZAxisZAxisZAxisZaxisZaxis_z) is of unit length (i.e. of length 1). If this is not the case, QuaternionQuaternionQuaternionQuaternionquaternionquaternion will be no valid rotation 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

Example (HDevelop)

** Normalize a vector and create a rotation quaternion
Length := sqrt(AxisX*AxisX+AxisY*AxisY+AxisZ*AxisZ)
AxisX := AxisX/Length
AxisY := AxisY/Length
AxisZ := AxisZ/Length
axis_angle_to_quat (AxisX, AxisY, AxisZ, rad(90), Quaternion)

Possible Successors

quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dQuatToHomMat3dquat_to_hom_mat3d, quat_to_posequat_to_poseQuatToPoseQuatToPoseQuatToPosequat_to_pose, quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3dquat_rotate_point_3d, quat_composequat_composeQuatComposeQuatComposeQuatComposequat_compose

See also

quat_normalizequat_normalizeQuatNormalizeQuatNormalizeQuatNormalizequat_normalize, quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugatequat_conjugate, quat_interpolatequat_interpolateQuatInterpolateQuatInterpolateQuatInterpolatequat_interpolate, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

Module

Foundation