[Octave-bug-tracker] [bug #55782] Request adding function to convert quaternion to rotation matrix be added to quaternion package

[Rick T]

URL:
  <https://savannah.gnu.org/bugs/?55782>

                 Summary: Request adding function to convert quaternion to
rotation matrix be added to quaternion package
                 Project: GNU Octave
            Submitted by: ratulloch
            Submitted on: Mon 25 Feb 2019 11:23:34 PM UTC
                Category: Octave Forge Package
                Severity: 3 - Normal
                Priority: 5 - Normal
              Item Group: Feature Request
                  Status: None
             Assigned to: None
         Originator Name: 
        Originator Email: 
             Open/Closed: Open
         Discussion Lock: Any
                 Release: other
        Operating System: GNU/Linux

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Details:

Requesting that a function to convert quaternion to matrix be added.  There is
a matrix to quaternion (rotm2q.m) but not the other way around.

Some example code like this could be added:

function [Rt]=q2rotm(qt)

s=qt(1);
vx=qt(2);
vy=qt(3);
vz=qt(4);

i1j1=1-2*vy^2-2*vz^2;
i1j2=2*vx*vy-2*s*vz;
i1j3=2*vx*vz+2*s*vy;
i2j1=2*vx*vy+2*s*vz;
i2j2=1-2*vx^2-2*vz^2;
i2j3=2*vy*vz-2*s*vx;
i3j1=2*vx*vz-2*s*vy;
i3j2=2*vy*vz+2*s*vx;
i3j3=1-2*vx^2-2*vy^2;

Rt=[i1j1 i1j2 i1j3;i2j1 i2j2 i2j3;i3j1 i3j2 i3j3];




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