Template Function navtk::navutils::quat_to_dcm(const S&)

• Defined in File navigation.hpp

Function Documentation

template<typename S = Vector, IfTensorOfDim<S, 1>* = nullptr>
Matrix3 navtk::navutils::quat_to_dcm(const S &quat)

Converts a quaternion into the equivalent direction cosine matrix.

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

References: “Strapdown Inertial Technology”, Titterton & Weston.

See also

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

See also

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

Template Parameters

• S – Type of quat, initializer list by default.

• std::enable_if_t<> – Constrains S to be 1 dimensional.

Parameters

quat – The input quaternion, shape (4)

Returns

The equivalent DCM, shape (3, 3)