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

It forms a (3 x 3) rotation matrix on SO(3) from an unsigned unite quaternion in `S^3`

(the four-dimensional sphere).

```
quat2rot(x)
```

`x` |
An unsigned unit quaternion in |

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.

Anamul Sajib.

R implementation and documentation: Anamul Sajib <sajibstat@du.ac.bd>.

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

```
rot2quat, rotation, Arotation rot.matrix
```

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

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