3 % Copyright (c) 2015 Samsung Electronics Co., Ltd.
5 % Licensed under the Apache License, Version 2.0 (the "License");
6 % you may not use this file except in compliance with the License.
7 % You may obtain a copy of the License at
9 % http://www.apache.org/licenses/LICENSE-2.0
11 % Unless required by applicable law or agreed to in writing, software
12 % distributed under the License is distributed on an "AS IS" BASIS,
13 % WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 % See the License for the specific language governing permissions and
15 % limitations under the License.
17 % Axis rotation to quaternion function
19 % - convert sensor rotation axis and angle values to quaternion
20 function q = axis_rot2quat(axis, angle)
22 q1 = -axis(1)*sin(angle/2);
23 q2 = -axis(2)*sin(angle/2);
24 q3 = -axis(3)*sin(angle/2);