Converting an unsigned unit quaternion to rotation matrix on SO(3)

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Description

It forms a (3 x 3) rotation matrix on SO(3) from an unsigned unite quaternion in S^3 (the four-dimensional sphere).

Usage

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Arguments

x

An unsigned unite quaternion in S^3.

Details

Given an unsigned unit quaternion in S^3 it forms a rotation matrix on SO(3), according to the transformation proposed by Prentice (1986).

Value

A rotation matrix.

Author(s)

Anamul Sajib

R implementation and documentation: Anamul Sajib <pmxahsa@nottingham.ac.uk>

References

Prentice,M. J. (1986). Orientation statistics without parametric assumptions.Journal of the Royal Statistical Society. Series B: Methodological 48(2).

See Also

rot2quat, rotation, Arotation \ link{rot.matrix}

Examples

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x <- rnorm(4)
x <- x/sqrt( sum(x^2) )
x                   ## an unit quaternion in R4 ##
quat2rot(x)

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