fromRotMat

This function converts a 3x3 rotation matrix into a normalized quaternion. It handles potential rounding errors and cases where the rotation matrix might be close to a zero or identity matrix.

Syntax

function q = fromRotMat(R)

Calling Pattern

mr.aux.quat.fromRotMat(...)

Parameters

Required Parameters

Name	Type	Description	Example	Units
R	double	A 3x3 rotation matrix.	[1 0 0; 0 1 0; 0 0 1]

Returns

Output	Type	Description
q	double	A 4-element normalized quaternion representing the rotation. The order is [qs, qx, qy, qz].

Examples

q = mr.aux.quat.fromRotMat([1 0 0; 0 1 0; 0 0 1]);

See Also

mr.aux.quat.normalize