converts direction cosine matrix to quaternion
Description
Wertz says to the algo similar to this with largest divisor q4 = 1/2*sqrt((1+mat(1,1)+mat(2,2)+mat(3,3))); Eqn 12-14a - c Quat(1) = (mat(2,3)-mat(3,2))/q4/4; Quat(2) = (mat(3,1)-mat(1,3))/q4/4; Quat(3) = (mat(1,2)-mat(2,1))/q4/4; Quat(4) = q4
Syntax
q = mat2quat(mat)Input
| mat | vector of matrixes |
Output
| q | quaternion |