Created
December 7, 2018 17:41
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| function [yaw pitch roll] = quat2eul(q) | |
| qs = q(1); | |
| qx = q(2); | |
| qy = q(3); | |
| qz = q(4); | |
| yaw = atan(2 * (qs * qx + qy * qz) / (1 - 2 * (qx^2 + qy^2))); | |
| pitch = asin(2 * (qs * qy - qz * qx)); | |
| roll = atan(2 * (qs * qz + qx * qy) / (1 - 2 * (qy^2 + qz^2))); | |
| endfunction |
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