Decompose Quaternions to X- Y- Z- Axes

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.