QTS Transformation to Roll-Pitch-Yaw Time Series

This function converts a quaternion time series into its roll-pitch-yaw angles representation.

Usage

qts2rpyts(x)

Arguments

x

An object of class qts.

Value

A time series stored as a tibble::tibble with columns time, roll, pitch and yaw containing the roll, pitch and yaw angles representation of the input quaternions.

Examples

qts2rpyts(vespa64$igp[[1]])
#> # A tibble: 101 × 4
#>     time   roll  pitch     yaw
#>    <int>  <dbl>  <dbl>   <dbl>
#>  1     0 0.163  0.137  0.0380 
#>  2     1 0.152  0.133  0.0365 
#>  3     2 0.141  0.127  0.0345 
#>  4     3 0.130  0.120  0.0316 
#>  5     4 0.121  0.113  0.0284 
#>  6     5 0.113  0.107  0.0248 
#>  7     6 0.107  0.101  0.0209 
#>  8     7 0.102  0.0945 0.0165 
#>  9     8 0.0983 0.0882 0.0117 
#> 10     9 0.0950 0.0812 0.00638
#> # ℹ 91 more rows