# rot2quat: Converting a rotation matrix on SO(3) to an unsigned unit... In Directional: A Collection of Functions for Directional Data Analysis

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

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

### Description

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

### Usage

rot2quat(X)


### Arguments

 X A rotation matrix in SO(3).

### Details

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.

### Value

A unsigned unite quaternion.

### Author(s)

Anamul Sajib.

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

### References

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} 

### Examples

x <- rnorm(4)
x <- x/sqrt( sum(x^2) ) ## an unit quaternion in R4 ##
R <- quat2rot(x)
R
x
rot2quat(R) ## sign is not exact as you can see


Directional documentation built on Oct. 12, 2023, 1:07 a.m.