Description Usage Arguments Details Value Author(s) References See Also Examples

It returns an unsigned unite quaternion in *S^3* (the four-dimensional sphere) from a *3 \times 3*
rotation matrix on SO(3).

1 | ```
rot2quat(X)
``` |

`X` |
A rotation matrix in SO(3). |

Firstly construct a system of linear equations by equating the corresponding components of the theoretical rotation matrix proposed by Prentice (1986), and given a rotation matrix. Finally, the system of linear equations are solved by following the tricks mentioned in second reference here in order to achieve numerical accuracy to get quaternion values.

A unsigned unite quaternion.

Anamul Sajib

R implementation and documentation: Anamul Sajib <[email protected]>

Prentice,M. J. (1986). Orientation statistics without parametric assumptions.Journal of the Royal Statistical Society. Series B: Methodological 48(2). //http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm

```
quat2rot, rotation, Arotation \ link{rot.matrix}
```

1 2 3 4 5 6 |

Directional documentation built on Nov. 22, 2017, 5:03 p.m.

Embedding an R snippet on your website

Add the following code to your website.

For more information on customizing the embed code, read Embedding Snippets.