Examples
ang = CL_deg2rad(10); M = CL_rot_angles2matrix(3,ang) // rotation around Z axis q = CL_rot_matrix2quat(M) M2 = CL_rot_quat2matrix(q) //same as M1 |  |  |
Transformation matrix to quaternion
[q, qdot] = CL_rot_matrix2quat(M [, omega])
Computes the quaternion corresponding to a given transformation matrix.
Also computes the quaternion time derivative from the angular velocity vector (if is is present and not empty).
Notes:
- See CL_rot_angles2matrix for conventions regarding the definition of the transformation matrix.
- See Data types or CL_rot_defQuat for more details on quaternions.
Transformation matrix (3x3xN)
Angular velocity vector. Can be empty. [rad/s] (3xN)
Quaternion (dim N)
Quaternion time derivative. Empty quaternion if not computed [-/s] (dim N or 0)
CNES - DCT/SB
1) Mecanique Spatiale - CNES Cepadues 1995, Tome I, 7.2.2.3 Les quaternions
2) James R. Wertz, Spacecraft attitude determination and control (volume 73 of Astrophyisics and Space Science Library), D. Reidel Publishing Company, 1980, appendix D-E
ang = CL_deg2rad(10); M = CL_rot_angles2matrix(3,ang) // rotation around Z axis q = CL_rot_matrix2quat(M) M2 = CL_rot_quat2matrix(q) //same as M1 | | |