quaternion

Unit quaternions are used to represent rotations. This VEX function creates a unit quaternion that represents a rotation.

vector4  quaternion(matrix3 rotations)

Creates a vector4 representing a unit quaternion from a 3×3 rotational matrix.

vector4  quaternion(float angle, vector axis)

Creates a vector4 representing a unit quaternion from an angle and a normalized axis. The angle is specified in radians.

vector4  quaternion(vector angleaxis)

Creates a vector4 representing a unit quaternion from a combined angle/axis. This is the normalized rotation axis multiplied by the rotation angle in radians.

There used to be a fourth form that took a rotation vector. It has been renamed to eulertoquaternion and now takes radians.

For more information, see Data types and Dot operator.