Name
CL_rot_quat2matrix — Quaternion to matrix
Calling Sequence
M=CL_rot_quat2matrix(q)
Description
-
Computes the frame transfer matrix M from quaternion q.
Computed matrix M is the transposed of the rotation operator matrix corresponding to q. That is matrix A
from Wertz called 'transformation matrix' (so rotation matrix = A'=M', see reference 2 below).
If q contains N quaternions: size(q)=N -> size(M)=[3 3 N]
For example: if R is a reference frame and S a satellite frame with attitude quaternion q, then
the coordinates of a unique vector v (with coordinates vR in R and vS in S) are linked by:

- Last update : 27/6/2008
Parameters
- q:
quaternion (dim N)
- M:
frame transfer hypermatrix (3x3xN)
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
Examples
ang = CL_deg2rad(10)
M1 = CL_rot_angles2matrix(3,ang)
q1 = CL_rot_matrix2quat(M1)
q2 = CL_rot_eul2quat(0,0,ang) //same as q1
M2 = CL_rot_quat2matrix(q2) //same as M1