It forms a (3 x 3) rotation matrix on SO(3) from an unsigned unite quaternion in S^3 (the four-dimensional sphere).
An unsigned unit quaternion in S^3.
Given an unsigned unit quaternion in S^3 it forms a rotation matrix on SO(3), according to the transformation proposed by Prentice (1986).
A rotation matrix.
R implementation and documentation: Anamul Sajib <firstname.lastname@example.org>
Prentice,M. J. (1986). Orientation statistics without parametric assumptions.Journal of the Royal Statistical Society. Series B: Methodological 48(2).
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