ABB robotic quaternion euler calculation

[Joseph_Oster]

I just recently heard about “Quaternion Rotation” from @Michael_Pryor - sounds fascinating:

Frames along curve but with the first and last frames set to a certain angle

Yes, with Pufferfish. Use the Tween Two Curves On Curve component. Mainly because it has Quaternion Rotation which you will need for this interpolation of planes. It uses Quaternions from Rhinocommon. [Capture] TweenTwoPlanesOnCurve.gh (6.8 KB)

More here:

Code examples using quaternion for rotation?

I have to look into quaternions. But can anyone provide with a code example of how to use them? For example rotating an object around a vector, and transforming an object from one plane to another. I know there are plugins that can handle quaternions (Falcon and Pufferfish has it) but I need to be able to code it myself (RhinoCommon quaternions). I tried a bit but the results doesn’t make sense to me… What I did was creating a vector from two box corners (see fig below) and created a transfor…