Q2DCM: Convert from rotation Quaternions to Direction Cosine Matrix

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

Description

Q2DCM converts from Quaternions to Direction Cosine Matrix (DCM).

Usage

Q2DCM(Q, tol = 10 * .Machine$double.eps, ichk = FALSE, ignoreAllChk = FALSE)

Arguments

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

Direction Cosine Matrix (DCM) 3x3xN.

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

DCM2Q

Examples

Q <- c(-0.1677489, -0.7369231, -0.3682588, 0.5414703)
Q2DCM(Q)

Example output

           [,1]       [,2]       [,3]
[1,]  0.1423907  0.3610947 -0.9215940
[2,]  0.7244189 -0.6724915 -0.1515663
[3,] -0.6744939 -0.6460385 -0.3573404

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