Function navtk::navutils::quat_to_dcm

Defined in File navigation.hpp

Function Documentation

Matrix3 navtk::navutils::quat_to_dcm(const Vector4 &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.