Quaternion Modulus

Calculate modulus of quaternion

Libraries:
Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Modulus block calculates the magnitude 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 modulus, see Algorithms.

Ports

Input

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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

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|q| — Quaternion modulus
quaternion modulus | vector of quaternion moduli

Quaternion modulus or vector of quaternion moduli in the form of [| q |, | r |, ...].

Data Types: double

Algorithms

The quaternion has the form of

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

The quaternion modulus has the form of

$| q | = \sqrt{q_{0}^{2} + q_{1}^{2} + q_{2}^{2} + q_{3}^{2}}$

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