Orientation Converter

1Input Orientation

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

2Output Format

Quaternion order is [w, x, y, z]. Nonzero inputs are normalized; q and −q represent the same orientation.

ABB · Quaternion q1–q4 Results

1Input Orientation

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

2Output Format

Quaternion order is [w, x, y, z]. Nonzero inputs are normalized; q and −q represent the same orientation.

ABB · Quaternion q1–q4 Results