Rotation axis and angle to quaternion
[q] = CL_rot_axAng2quat(u, alpha)
Computes the quaternion q that corresponds to the rotation of angle alpha around the rotation axis u.
Notes:
- The output quaternion has a norm equal to 1.
- For compatibility reasons, the argument order: (alpha, u) is also possible but should be avoided.
- See Conventions or CL_rot_defQuat for more details on quaternions.
Rotation axis [ux;uy;uz]. ||u|| should be > 0 (3xN or 3x1)
Rotation angle [rad] (1xN or 1x1)
Quaternion (with norm equal to 1) (dim N)
CNES - DCT/SB