Directional (version 2.2)

Converting an unsigned unit quaternion to rotation matrix on SO(3): 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 unite quaternion in $S^3$.

Value

A rotation matrix.

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).

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 \ link{rot.matrix}

Examples

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