Converting an unsigned unit quaternion to rotation matrix on SO(3) {Directional}

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)

Arguments

x

An unsigned unit quaternion in S^3.

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).

Value

A rotation matrix.

Author(s)

Anamul Sajib.

R implementation and documentation: Anamul Sajib <[e-mail]>.

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

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