dcm2quat

Convert direction cosine matrix to quaternion

Syntax

q = dcm2quat(n)
q = dcm2quat(n,action)
q = dcm2quat(n,action,tolerance)

Description

q = dcm2quat(n) calculates the quaternion, q, for a given direction cosine matrix, n. Input n is a 3-by-3-by-m matrix of orthogonal direction cosine matrices. The direction cosine matrix performs the coordinate transformation of a vector in inertial axes to a vector in body axes. q returns an m-by-4 matrix containing m quaternions. q has its scalar number as the first column.

This function applies only to direction cosine matrices that are orthogonal with determinant +1.

q = dcm2quat(n,action) performs action if the direction cosine matrix is invalid (not orthogonal).

  • Warning — Displays warning and indicates that the direction cosine matrix is invalid.

  • Error — Displays error and indicates that the direction cosine matrix is invalid.

  • None — Does not display warning or error (default).

q = dcm2quat(n,action,tolerance) uses a tolerance level to evaluate if the direction cosine matrix, n, is valid (orthogonal). tolerance is a scalar whose default is eps(2) (4.4409e-16). The function considers the direction cosine matrix valid if these conditions are true:

  • The transpose of the direction cosine matrix times itself equals 1 within the specified tolerance (transpose(n)*n == 1±tolerance)

  • The determinant of the direction cosine matrix equals 1 within the specified tolerance (det(n) == 1±tolerance).

Examples

Determine the quaternion from direction cosine matrix:

dcm = [0 1 0; 1 0 0; 0 0 -1];
q = dcm2quat(dcm)
q =

         0    0.7071    0.7071         0

Determine the quaternions from multiple direction cosine matrices:

dcm        = [ 0 1 0; 1 0 0; 0 0 -1]; 
dcm(:,:,2) = [ 0.4330    0.2500   -0.8660; ...
               0.1768    0.9186    0.3536; ...
               0.8839   -0.3062    0.3536];
q = dcm2quat(dcm)
q =

         0    0.7071    0.7071         0
    0.8224    0.2006    0.5320    0.0223

Determine the quaternion from a direction cosine matrix validated within tolerance:

dcm = [0 1 0; 1 0 0; 0 0 -1];
q = dcm2quat(dcm,'Warning',0.1)

q =

         0    0.7071    0.7071         0

Introduced in R2006b