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28 lines
635 B
Mathematica
28 lines
635 B
Mathematica
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function [rpy p y] = Quaternion2RPY(q)
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% [rpy p y] = Quaternion2RPY(q)
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%
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% JC 2012-02-26
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assert(size(q,2) == 4, 'Quaternion wrong shape');
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RAD2DEG = 180 / pi;
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q0s = q(:,1) .^ 2;
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q1s = q(:,2) .^ 2;
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q2s = q(:,3) .^ 2;
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q3s = q(:,4) .^ 2;
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R13 = 2.0 * (q(:,2) .* q(:,4) - q(:,1) .* q(:,3));
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R11 = q0s + q1s - q2s - q3s;
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R12 = 2.0 * (q(:,2) .* q(:,3) + q(:,1) .* q(:,4));
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R23 = 2.0 * (q(:,3) .* q(:,4) + q(:,1) .* q(:,2));
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R33 = q0s - q1s - q2s + q3s;
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rpy(:,2) = RAD2DEG * asin(-R13);
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rpy(:,3) = RAD2DEG * atan2(R12, R11);
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rpy(:,1) = RAD2DEG * atan2(R23, R33);
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if nargout > 1
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p = rpy(:,2);
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y = rpy(:,3);
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rpy(:,2:3) = [];
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end
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