function

LieGroups.SO3.Euler.to_Quat

Euler angles to scalar-first Hamilton quaternion

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`angles`	`Real`	`[3]`
input	`sequence`	`LieGroups.SO3.Euler.Axis`	`[3]`
input	`bodyFixed`	`Boolean`	`= true`
output	`q`	`Real`	`[4]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function to_Quat "Euler angles to scalar-first Hamilton quaternion"
  input Real angles[3];
  input LieGroups.SO3.Euler.Axis sequence[3];
  input Boolean bodyFixed = true;
  output Real q[4];
algorithm
  q := LieGroups.SO3.Quat.from_DCM(
    LieGroups.SO3.Euler.to_Matrix(angles, sequence, bodyFixed));
end to_Quat;