archimedes.spatial.dcm_to_quaternion¶
- archimedes.spatial.dcm_to_quaternion(matrix: ndarray) ndarray¶
Create a Quaternion from a rotation matrix.
If the rotation matrix is R_BA that represents the attitude of a body B relative to a frame A, then the resulting quaternion represents the attitude of the body B relative to frame A.
Note that for the sake of symbolic computation, this method assumes that the input is a valid rotation matrix (orthogonal and determinant +1).
Implementation based on SciPy and reference [1].
- Parameters:
matrix (array_like, shape (3, 3)) – Quaternion matrix.
- Returns:
Unit quaternion [w, x, y, z] corresponding to the rotation matrix, where w is the scalar part.
- Return type:
np.ndarray, shape (4,)
References