www.pudn.com > calibr8.zip > euler2quart.m

function [rotV, beta] = euler2quart(ox, fy, kz)
%DEVELOPMENT PHASE
%
% rotmat = quart(rotAx, rotAng)
%
% computes quarternions from euler angles
%
% rotmat - rotation matrix
%
% rotAx - rotation axis [xr, yr, zr]
% rotAng - rotation angle

beta = ox;

z1 = sin( fy );
x1 = cos( fy );
y1 = sin( kz ) * x1;
x2 = cos( kz ) * x1;

rotV = [x2, y1, z1];