Engee documentation

Quaternions to Direction Cosine Matrix

Conversion of a quaternion into a matrix of directional cosines.

quaternion to direction cosine matrix

Description

The Quaternions to Direction Cosine Matrix block converts a quaternion into a direction cosine matrix that performs a rotation of a vector defined in an inertial coordinate system to a related coordinate system.

The Directional Cosine Matrix is calculated by the formula:

The Quaternions to Direction Cosine Matrix block normalises the input quaternion.

Ports

Input

q - quaternion
`quaternion

The input quaternion , given as a 4 by 1 vector.

Data types: Float64

Output

DCMbe - matrix of directional cosines
`matrix 3 by 3

Matrix of directional cosines.

Data types: Float64

Additional options

C code generation: Yes