CL_rot_quat2matrix

Description

• Computes the transformation matrix that corresponds to a given quaternion.

  Also computes the angular velocity vector from the quaternion derivative (if it 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.

Parameters

q:

Quaternion (dim N)

qdot:

Quaternion time derivative. Can be empty (dim N)

M:

Transformation matrix (3x3xN)

omega:

Angular velocity vector. Empty if not computed (3xN)

Bibliography

• 1) Mecanique Spatiale - CNES Cepadues 1995, Tome I, 7.2.2.3 Les quaternions, eq.15

• 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

Authors

• CNES - DCT/SB

See also

• CL_rot_defQuat

• CL_rot_matrix2quat

Examples

ang = CL_deg2rad(10) M1 = CL_rot_angles2matrix(3,ang) q1 = CL_rot_matrix2quat(M1) M2 = CL_rot_quat2matrix(q1) // same as M1