Function navtk::navutils::dcm_to_quat

• Defined in File navigation.hpp

Function Documentation

Vector4 navtk::navutils::dcm_to_quat(const Matrix3 &dcm)

Converts a DCM into the equivalent quaternion.

If dcm is a direction cosine matrix which rotates a vector from frame B to frame A ( \(\textbf{C}_\text{B}^\text{A}\)), then this function calculates the equivalent quaternion \(\textbf{q}_\text{B}^\text{A}\).

References: “Strapdown Inertial Technology”, Titterton & Weston; Strapdown Analytics, Vol 1 eq. 3.2.4.3-9.

See also

Coordinate Frames for more details on quaternion and DCM expressions of attitude.

See also

quat_to_dcm() for the companion function that converts in the opposite direction.

See also

dcm_to_rpy()

Parameters

dcm – Direction cosine matrix.

Returns

The equivalent quaternion.