Path: Common/Quaternion
% Converts a transformation matrix to a quaternion.
Does not check to see that m is orthonormal.
--------------------------------------------------------------------------
Form:
q = Mat2Q ( m )
--------------------------------------------------------------------------
------
Inputs
------
m (3,3) Orthonormal transformation matrix
-------
Outputs
-------
q (4,1) Equivalent quaternion
--------------------------------------------------------------------------
References: Shepperd, S. W., Quaternion from Rotation Matrix,
J. Guidance, Vol. 1, No. 3, May-June, 1978, pp. 223-224.
--------------------------------------------------------------------------
Back to the Common Module page