I have the following Matlab code to calculate a joint angle from 2 quaternions that only work with one row (in a spreadsheet). I want to use it for more than 1 row (for a matrix). How to change the code to get the result for all rows of the spreadsheet?
An=A/norm(A);
Bn=B/norm(B);
QuatDiff=quatmultiply(quatconj(An),Bn);
ang=2*atan2(norm(QuatDiff(2:4)),QuatDiff(1));
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A= sensor A quaternion and B=sensor B quaternion
You may use the matlab toolbox MTEX http://mtex-toolbox.github.io/ which includes quaternions and computes the pointwise angle between two lists of quaternions by
A = quaternion(a1,b1,c1,d1)
B = quaternion(a2,b2,c2,d2)
ang = angle(A,B)
Ralf.
Hi Ralf,
But this only gives me one angle (not clear which axis). Anyway to find the angle in all planes?
Mohsen
What about
axis(A,B)
when talking about axes it is always important to fix the reference system.
Ralf.
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