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Quaternions VIs

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Robotic Arm VIs

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 ObjectDescription
Add QuaternionsReturns the sum of two quaternions.
Conjugate QuaternionReturns the conjugate of a quaternion.
Divide QuaternionsComputes 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 QuaternionReturns a quaternion whose elements are between –1 and 1.
Get Unit QuaternionComputes the unit quaternion of a quaternion.

.m file: unit
Interpolate QuaternionsReturns a quaternion that is a spherical linear interpolation between two quaternions.

.m file: qinterp
Inverse QuaternionReturns the inverse of a quaternion.

.m file: inv
Multiply QuaternionsReturns 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 QuaternionReturns the norm of the input quaternion. This VI uses the Vector Norm VI to compute the norm.

.m file: norm
Rotate Vector by QuaternionRotates a vector.

 

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