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Directional (version 6.8)

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

Description

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

Usage

quat2rot(x)

Value

A rotation matrix.

Arguments

x

An unsigned unit quaternion in \(S^3\).

Author

Anamul Sajib.

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

Details

Given an unsigned unit quaternion in \(S^3\) it forms a rotation matrix on SO(3), according to the transformation proposed by Prentice (1986).

References

Prentice,M. J. (1986). Orientation statistics without parametric assumptions.Journal of the Royal Statistical Society. Series B: Methodological 48(2).

See Also

rot2quat, rotation, Arotation rot.matrix

Examples

Run this code
x <- rnorm(4)
x <- x/sqrt( sum(x^2) )
x                   ## an unit quaternion in R4 ##
quat2rot(x)

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