DCM2Q {RSpincalc} | R Documentation |
Convert from Direction Cosine Matrix to rotation Quaternions
Description
DCM2Q
converts from Direction Cosine Matrix (DCM) to Quaternions (Q).
Usage
DCM2Q(DCM, tol = 10 * .Machine$double.eps, ichk = FALSE, ignoreAllChk = FALSE)
Arguments
DCM |
Direction Cosine Matrix (DCM) is a rotation matrix 3x3 (N=1) or an array 3x3xN |
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
Quaternion (Q) vector [q1, q2, q3, q4].
Author(s)
Jose Gama
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
Examples
DCM <- matrix(c(-0.3573404, -0.1515663, 0.9215940, 0.6460385, 0.6724915,
0.3610947, -0.6744939, 0.7244189, -0.1423907),3,3,byrow=TRUE)
DCM2Q(DCM)