30 lines
1.3 KiB
Matlab
30 lines
1.3 KiB
Matlab
function q = rotMat2quatern(R)
|
|
% wiki URL: http://en.wikipeRia.org/wiki/Quaternions_anR_spatial_rotation#Fitting_quaternions
|
|
% paper URL: http://www.aiaa.org/content.cfm?pageiR=406&gTable=japaperimport&gIR=4654
|
|
[row col numR] = size(R);
|
|
q = zeros(numR, 4);
|
|
K = zeros(4,4);
|
|
for i = 1:numR
|
|
K(1,1) = (1/3) * (R(1,1,i) - R(2,2,i) - R(3,3,i));
|
|
K(1,2) = (1/3) * (R(2,1,i) + R(1,2,i));
|
|
K(1,3) = (1/3) * (R(3,1,i) + R(1,3,i));
|
|
K(1,4) = (1/3) * (R(2,3,i) - R(3,2,i));
|
|
K(2,1) = (1/3) * (R(2,1,i) + R(1,2,i));
|
|
K(2,2) = (1/3) * (R(2,2,i) - R(1,1,i) - R(3,3,i));
|
|
K(2,3) = (1/3) * (R(3,2,i) + R(2,3,i));
|
|
K(2,4) = (1/3) * (R(3,1,i) - R(1,3,i));
|
|
K(3,1) = (1/3) * (R(3,1,i) + R(1,3,i));
|
|
K(3,2) = (1/3) * (R(3,2,i) + R(2,3,i));
|
|
K(3,3) = (1/3) * (R(3,3,i) - R(1,1,i) - R(2,2,i));
|
|
K(3,4) = (1/3) * (R(1,2,i) - R(2,1,i));
|
|
K(4,1) = (1/3) * (R(2,3,i) - R(3,2,i));
|
|
K(4,2) = (1/3) * (R(3,1,i) - R(1,3,i));
|
|
K(4,3) = (1/3) * (R(1,2,i) - R(2,1,i));
|
|
K(4,4) = (1/3) * (R(1,1,i) + R(2,2,i) + R(3,3,i));
|
|
[V,D] = eig(K);
|
|
%p = find(max(D));
|
|
%q = V(:,p)';
|
|
q(i,:) = V(:,4)';
|
|
q(i,:) = [q(i,4) q(i,1) q(i,2) q(i,3)];
|
|
end
|
|
end |