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It forms a (3 x 3) rotation matrix on SO(3) from an unsigned unite quaternion in \(S^3\) (the four-dimensional sphere).
quat2rot(x)
A rotation matrix.
An unsigned unit quaternion in \(S^3\).
Anamul Sajib.
R implementation and documentation: Anamul Sajib <sajibstat@du.ac.bd>.
Given an unsigned unit quaternion in \(S^3\) it forms a rotation matrix on SO(3), according to the transformation proposed by Prentice (1986).
Prentice,M. J. (1986). Orientation statistics without parametric assumptions.Journal of the Royal Statistical Society. Series B: Methodological 48(2).
rot2quat, rotation, Arotation rot.matrix
x <- rnorm(4) x <- x/sqrt( sum(x^2) ) x ## an unit quaternion in R4 ## quat2rot(x)
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