Quaternions VIs

LabVIEW 2011 Robotics Module Help

Edition Date: June 2011

Part Number: 372983B-01

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Requires: Robotics Module. This topic might not match its corresponding palette in LabVIEW depending on your operating system, licensed product(s), and target.

Use the Quaternions VIs to perform quaternion math for use in robotic kinematics.

.m file: quaternion

Palette Object	Description
Add Quaternions	Returns the sum of two quaternions.
Conjugate Quaternion	Returns the conjugate of a quaternion.
Divide Quaternions	Computes the quotient of two quaternions or a quaternion and a scalar number. Wire data to the y input to determine the polymorphic instance to use or manually select the instance.
Generate Random Quaternion	Returns a quaternion whose elements are between –1 and 1.
Get Unit Quaternion	Computes the unit quaternion of a quaternion.
Interpolate Quaternions	Returns a quaternion that is a spherical linear interpolation between two quaternions.
Inverse Quaternion	Returns the inverse of a quaternion.
Multiply Quaternions	Returns the product of two quaternions or a quaternion and a scalar number. Wire data to the y input to determine the polymorphic instance to use or manually select the instance.
Normalize Quaternion	Returns the norm of the input quaternion. This VI uses the Vector Norm VI to compute the norm.
Rotate Vector by Quaternion	Rotates a vector.