Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors

---

Documentation for package ‘RSpincalc’ version 1.0.2

• DESCRIPTION file.
• Code demos. Use demo() to run them.

Help Pages

%Q*%	Quaternion multiplication
%Q+%	Quaternion addition
%Q-%	Quaternion subtraction
%Q.%	Quaternion dot product
%Q/%	Quaternion division
DCM2EA	Convert from Direction Cosine Matrix to Euler Angles
DCM2EV	Convert from Direction Cosine Matrix to Euler Vectors
DCM2Q	Convert from Direction Cosine Matrix to rotation Quaternions
DCMrandom	Generate uniform random direction cosine matrices
EA2DCM	Convert from Euler Angles to Direction Cosine Matrix
EA2EA	Convert from Euler Angles to Euler Angles
EA2EV	Convert from Euler Angles to Euler Vectors
EA2Q	Convert from Euler Angles to rotation Quaternions
EArandom	Generate uniform random Euler Angles
EV2DCM	Convert from Euler Vectors to Direction Cosine Matrix
EV2EA	Convert from Euler Vectors to Euler Angles
EV2Q	Convert from Euler Vectors to rotation Quaternions
EVrandom	Generate uniform random Euler Vectors
isPureQuaternion	Determine if the variable is a pure rotation matrix
isPureRotationMatrix	Determine if the variable is a pure rotation matrix
isRealQuaternion	Determine if the variable is a pure rotation matrix
isUnitQuaternion	Determine if the variable is a pure rotation matrix
Q2DCM	Convert from rotation Quaternions to Direction Cosine Matrix
Q2EA	Convert from rotation Quaternions to Euler Angles
Q2EA.Xiao	Convert from rotation Quaternions to Euler Angles
Q2EV	Convert from rotation Quaternions to Euler Vectors
Q2GL	Convert from rotation Quaternions to OpenGL rotation matrix
QangularDifference	Angular difference between 2 quaternions
Qbezier	Linear quaternion interpolation
Qconj	Quaternion conjugate
Qexp	Quaternion logarithm
Qinv	Quaternion inverse
Qlerp	Linear quaternion interpolation
Qlog	Quaternion logarithm
Qnorm	Norm of a quaternion
Qnormalize	Quaternion normalization
Qone	Generate zero-valued quaternions
Qrandom	Generate uniform random unit quaternions
Qrot	Updates current attitude quaternion
Qslerp	Linear quaternion interpolation
QslerpNoInvert	Linear quaternion interpolation
Qspline	Linear quaternion interpolation
Qsquad	Linear quaternion interpolation
Qzero	Generate zero-valued quaternions
vectQrot	Rotate a vector by a quaternion