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randrot

Uniformly distributed random rotations

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Syntax

R = randrot
R = randrot (m)
R = randrot(m1,...,mN)
R = randrot([m1,...,mN])

Description

R= randrotreturns a unit quaternion drawn from a uniform distribution of random rotations.

example

R= randrot(m)returns anm-by-mmatrix of unit quaternions drawn from a uniform distribution of random rotations.

example

R= randrot(m1,...,mN)returns anm1-by-...-by-mNarray of random unit quaternions, wherem1,…,mNindicate the size of each dimension. For example,randrot(3、4)returns a 3-by-4 matrix of random unit quaternions.

R= randrot((m1,...,mN])returns anm1-by-...-by-mNarray of random unit quaternions, wherem1,…,mNindicate the size of each dimension. For example,randrot([3,4])returns a 3-by-4 matrix of random unit quaternions.

Examples

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Open Live Script

Generate a 3-by-3 matrix of uniformly distributed random rotations.

r = randrot(3)
r =3x3 quaternion array0.17446 + 0.59506i - 0.73295j + 0.27976k 0.69704 - 0.060589i + 0.68679j - 0.19695k 0.35191 + 0.74478i + 0.52322j - 0.21842k 0.21908 - 0.89875i - 0.298j + 0.23548k -0.049744 + 0.59691i + 0.56459j + 0.56786k 0.17527 - 0.46955i + 0.52986j - 0.68414k 0.6375 + 0.49338i - 0.24049j + 0.54068k 0.2979 - 0.53568i + 0.31819j + 0.72323k -0.30189 - 0.22864i - 0.83159j + 0.40626k
Open Live Script

500年创建一个向量随机四元数。使用rotatepointto visualize the distribution of the random rotations applied to point (1, 0, 0).

q = randrot(500,1); pt = rotatepoint(q, [1 0 0]); figure scatter3(pt(:,1), pt(:,2), pt(:,3)) axisequal

Figure contains an axes object. The axes object contains an object of type scatter.

Input Arguments

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Size of square quaternion matrix, specified as an integer value. Ifmis0or negative, thenRis returned as an empty matrix.

Data Types:single|double|int8|int16|int32|int64|uint8|uint16|uint32|uint64

Size of each dimension, specified as two or more integer values. If the size of any dimension is0or negative, thenRis returned as an empty array.

Example:randrot(2,3)returns a 2-by-3 matrix of random quaternions.

Data Types:single|double|int8|int16|int32|int64|uint8|uint16|uint32|uint64

Vector of size of each dimension, specified as a row vector of two or more integer values. If the size of any dimension is0or negative, thenRis returned as an empty array.

Example:randrot([2,3])returns a 2-by-3 matrix of random quaternions.

Data Types:single|double|int8|int16|int32|int64|uint8|uint16|uint32|uint64

Output Arguments

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Random quaternions, returned as a quaternion or array of quaternions.

Data Types:quaternion

References

(1] Shoemake, K. "Uniform Random Rotations."Graphics Gems III(K. David, ed.). New York: Academic Press, 1992.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019a

See Also

Topics