RSpincalc (version 1.0.2)

DCM2Q: Convert from Direction Cosine Matrix to rotation Quaternions

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].

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)