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Help rotate_vecs
Rotate triaxial vector measurements from one frame to another.
Syntax
V = rotate_vecs(V,Q) % Matlab/Octave: p and A are vectors/matrices V <- rotate_vecs(V, Q) #R: p and A are vectors/matrices
Description
Rotate triaxial vector measurements from one frame to another.
Inputs
| Input var | Description | Units | Default value |
|---|---|---|---|
| V | is a sensor structure, matrix or vector containing measurements from a triaxial sensor, e.g., an accelerometer, magnetometer or gyroscope. If V is a matrix it should have 3 columns. If V is a single measurement, it will be a 1×3 or 3×1 vector. | N/A | N/A |
| Q | is a rotation matrix specifying how V is to be rotated. If Q is a single 3×3 matrix, the same rotation is applied to all vectors in V. If Q is a 3x3xn matrix where n is the number of rows of data in V, a different transformation given by Q(:,:,k) is applied to each row of V. Use euler2rotmat to generate a rotation matrix from euler angles. | N/A | N/A |
Outputs
| Output var | Description | Units |
|---|---|---|
| V | V is the rotated data with the same size and sampling rate as the input V. If the input was a sensor structure, the output will also be. | N/A |
Notes & assumptions
- Frame: This function assumes that the axes of V are consistent with the axes assumed in generating the rotation matrix, i.e., forward-right-up. This function changes the frame of V by rotating it into a new frame. For example if V is in the tag frame and Q is the rotation matrix relating tag and animal frame, then the output will be in the animal frame.
Example
Matlab & Octave
Q = euler2rotmat(pi/180*[25 -60 33]); V = rotate_vecs([0.77 -0.6 -0.22],Q) Returns: V=[0.7072,-0.1256,0.6967]
R
x <- (pi / 180) * matrix(c(25, -60, 33), ncol = 3) Q <- euler2rotmat(x[, 1], x[, 2], x[, 3]) V <- rotate_vecs(c(0.77, -0.6, -0.22), Q) Returns: V = c(0.7072485, -0.1255922, 0.6966535)
About
bugs@animaltags.org Last modified: 24 July 2017