Quaternion to transformation matrix
[M]=CL_rot_quat2matrix(q)
Computes the transformation matrix that corresponds to a given quaternion.
Notes:
- See CL_rot_angles2matrix for conventions regarding the definition of the transformation matrix.
- See Conventions or CL_rot_defQuat for more details on quaternions.
Quaternion (dim N)
Transformation matrix (3x3xN)
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
CNES - DCT/SB