RSpincalc (version 1.0.2)

Q2DCM: Convert from rotation Quaternions to Direction Cosine Matrix

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.

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)