Decompose Quaternions to X- Y- Z- Axes

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Function

This Step decomposes rotation vectors in quaternions into three vectors: X-axis vector, Y-axis vector, Z-axis vector.

Usage Scenario

This Step is a general pose decomposition Step. The decomposed parts can be used as input for other Steps.

Input and Output

  • Input:

    1. The X, Y, and Z axis vectors corresponding to the quaternions input at this port will be individually output.

  • Output:

    1. X-axis vectors of the input vectors in quaternions

    2. Y-axis vectors of the input vectors in quaternions

    3. Z-axis vectors of the input vectors in quaternions

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