CMSIS-DSP
Version 1.10.0
CMSIS DSP Software Library
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Functions | |
void | arm_quaternion2rotation_f32 (const float32_t *pInputQuaternions, float32_t *pOutputRotations, uint32_t nbQuaternions) |
Conversion of quaternion to equivalent rotation matrix. More... | |
Conversions from quaternion to rotation.
void arm_quaternion2rotation_f32 | ( | const float32_t * | pInputQuaternions, |
float32_t * | pOutputRotations, | ||
uint32_t | nbQuaternions | ||
) |
[in] | pInputQuaternions | points to an array of normalized quaternions |
[out] | pOutputRotations | points to an array of 3x3 rotations (in row order) |
[in] | nbQuaternions | number of quaternions in the array |
The quaternion a + ib + jc + kd is converted into rotation matrix:
a^2 + b^2 - c^2 - d^2 2bc - 2ad 2bd + 2ac 2bc + 2ad a^2 - b^2 + c^2 - d^2 2cd - 2ab 2bd - 2ac 2cd + 2ab a^2 - b^2 - c^2 + d^2
Rotation matrix is saved in row order : R00 R01 R02 R10 R11 R12 R20 R21 R22