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rotationquaternions
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Reputation: 227

Quaternion: composition of rotations. Change of refence frame

I have a world reference frame, let'denote it with {R}, and a reference frame attached to a sensor, let's denote it with {C}. The sensor detect another reference frame {M}, located on a marker.

q represents the quaternion related to the orientation of {C} with respect to {R}.

qq represents the quaternion related to the orientation of {M} with respect to {C}.

I'd like to express the orientation of {M} with respect to {R}.

I'm struggling, because q and qq are not related to the same reference frame, and I can't find an easy way to go on. Matlab and python tf.transformations use different conventions, and I'm doing a mess mixing RPY, rotation matrices and stuff like this... Thanks for your help.

Upvotes: 1

Views: 1144

Answers (1)

Mauricio Cele Lopez Belon
Mauricio Cele Lopez Belon

Reputation: 1507

Rotate qq back from M to R frame

qq_R = q^-1 * qq * q

Upvotes: 2

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