function

Vehicles.Interfaces.eulerFromQuaternion

Return roll, pitch, yaw from a scalar-first quaternion

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`quaternion`	`Real`	`[4]`
output	`euler_rad`	`Real`	`[3]`	Roll, pitch, yaw [rad]

Modelica declarations and implementation

Show parameters, interfaces and source

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

function eulerFromQuaternion "Return roll, pitch, yaw from a scalar-first quaternion"
  input Real quaternion[4];
  output Real euler_rad[3] "Roll, pitch, yaw [rad]";
protected
  Real yawPitchRoll_rad[3];
algorithm
  yawPitchRoll_rad := LieGroups.SO3.EulerB321.from_Quat(quaternion);
  euler_rad := {yawPitchRoll_rad[3], yawPitchRoll_rad[2], yawPitchRoll_rad[1]};
  annotation(Inline = true);
end eulerFromQuaternion;