isPureRotationMatrix {RSpincalc}

Determine if the variable is a pure rotation matrix

Description

isPureRotationMatrix determines if a matrix is pure rotation matrix (proper orthogonal matrix) with det(m)==1. isPureQuaternion determines if a quaternion is a pure quaternion. isRealQuaternion determines if a quaternion is a real quaternion. isUnitQuaternion determines if a quaternion is a unit quaternion.

Usage

isPureRotationMatrix(DCM, tol = 0.01)

Arguments

DCM

Direction Cosine Matrix (DCM) is a rotation matrix 3x3 (N=1) or an array 3x3xN.

tol

Tolerance value.

Value

Logical, TRUE = matrix is pure rotation matrix.

Author(s)

Jose Gama

See Also

Q2GL

Examples

isPureRotationMatrix(matrix(rep(0,9),3,3,byrow=TRUE),.1)
isPureRotationMatrix(matrix(rep(1,9),3,3,byrow=TRUE),.1)
isPureRotationMatrix(matrix(c(0,0,-1,0,1,0,1,0,1),3,3,byrow=TRUE),.1)
DCMx10 <- DCMrandom(10)
isPureRotationMatrix(DCMx10)