DCM2Q: Convert from Direction Cosine Matrix to rotation Quaternions

In RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors

Description

DCM2Q converts from Direction Cosine Matrix (DCM) to Quaternions (Q).

Usage

DCM2Q(DCM, tol = 10 * .Machine$double.eps, ichk = FALSE, ignoreAllChk = FALSE)

Arguments

DCM	Direction Cosine Matrix (DCM) is a rotation matrix 3x3 (N=1) or an array 3x3xN
tol	Tolerance from deviations from unity for the determinant of rotation matrices or the the vector length for unitary vectors.
ichk	Logical, FALSE=disables near-singularity warnings.
ignoreAllChk	Logical, TRUE=disables all warnings and error checks (use with caution!).

Value

Quaternion (Q) vector [q1, q2, q3, q4].

Author(s)

Jose Gama

References

by John Fuller, 14 Jul 2008 SpinCalc, Function to Convert between DCM, Euler angles, Quaternions, and Euler vectors. http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm–euler-angles–quaternions–and-euler-vectors

Paolo de Leva, 01 May 2013 SpinConv, Conversion from a rotation representation type to another. http://www.mathworks.com/matlabcentral/fileexchange/41562-spinconv

See Also

Q2DCM

Examples

DCM <- matrix(c(-0.3573404, -0.1515663, 0.9215940, 0.6460385, 0.6724915, 
0.3610947, -0.6744939, 0.7244189, -0.1423907),3,3,byrow=TRUE)
DCM2Q(DCM)

Example output

           [,1]      [,2]      [,3]      [,4]
[1,] -0.5414703 0.1677489 0.7369231 0.3682588

RSpincalc documentation built on May 2, 2019, 10:59 a.m.