function

LieGroups.SO3.Mrp.to_Quat

Convert MRP to quaternion

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`r`	`Real`	`[3]`	MRP parameters
output	`q`	`Real`	`[4]`	Quaternion {w,x,y,z}

Modelica declarations and implementation

Show parameters, interfaces and source

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

function to_Quat "Convert MRP to quaternion"
  input Real r[3] "MRP parameters";
  output Real q[4] "Quaternion {w,x,y,z}";
protected
  Real n_sq;
  Real den;
algorithm
  n_sq := r[1]^2 + r[2]^2 + r[3]^2;
  den := 1.0 + n_sq;
  q[1] := (1.0 - n_sq) / den;
  q[2] := 2.0*r[1] / den;
  q[3] := 2.0*r[2] / den;
  q[4] := 2.0*r[3] / den;
end to_Quat;