Quaternion Inverse

Calculate inverse of quaternion

Libraries:
Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Inverse block calculates the inverse for a given quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. For the equations used for the quaternion and quaternion inverse, Algorithms.

Ports

Input

expand all

q — Quaternion
quaternion | vector of quaternions

Quaternions in the form of [ q ₀ , r ₀ , ..., q ₁ , r ₁ , ... , q ₂ , r ₂ , ... , q ₃ , r ₃ , ...], specified as a quaternion or vector of quaternions.

Data Types: double

Output

expand all

Inv(q) — Quaternion inverse
quaternion inverse | vector of quaternion inverses

Quaternion inverse or vector of quaternion inverses.

Data Types: double

Algorithms

The quaternion has the form of

$q = q_{0} + i q_{1} + j q_{2} + k q_{3} .$

The quaternion inverse has the form of

$q^{- 1} = \frac{q_{0} - i q_{1} - j q_{2} - k q_{3}}{q_{0}^{2} + q_{1}^{2} + q_{2}^{2} + q_{3}^{2}} .$

References

[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced before R2006a