function q = euler2q(phi,theta,psi)
% q = EULER2Q(phi,theta,psi) computes the unit quaternions q = [eta eps1 eps2 eps3]
% from Euler angles phi, theta and psi
%
% Author: Thor I. Fossen
% Date: 8th June 2000
% Revisions: 6 October 2001, T I. Fossen - eta as first element in q
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ncnynl
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YPR和四元数转换
http://wiki.ros.org/kdl/Tutori ... %2529
ncnynl
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https://en.wikipedia.org/wiki/Euler_function
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function q = euler2q(phi,theta,psi)
% q = EULER2Q(phi,theta,psi) computes the unit quaternions q = [eta eps1 eps2 eps3]
% from Euler angles phi, theta and psi
%
% Author: Thor I. Fossen
% Date: 8th June 2000
% Revisions: 6 October 2001, T I. Fossen - eta as first element in q
ncnynl
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https://github.com/ncnynl/rbx1/blob/indigo-devel/rbx1_nav/src/rbx1_nav/transform_utils.py
ncnynl
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http://blog.csdn.net/silangquan/article/details/39008903
http://www.wy182000.com/2012/07/17/quaternion%E5%9B%9B%E5%85%83%E6%95%B0%E5%92%8C%E6%97%8B%E8%BD%AC%E4%BB%A5%E5%8F%8Ayaw-pitch-roll-%E7%9A%84%E5%90%AB%E4%B9%89/
https://openhome.cc/Gossip/ComputerGraphics/QuaternionsRotate.htm
ncnynl
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http://www.oschina.net/code/snippet_876234_20178
ncnynl
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ncnynl
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ncnynl
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