Name

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    MATRIX2QUATERNION

Purpose

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    Transforms a rotation matrix into a quaternion.

Category

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    Math

Calling Sequence

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    Result = MATRIX2QUATERNION(Rotmatrix)

Inputs

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    Rotmatrix: A 3x3 rotation matrix.

Outputs

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    The function returns the quaternion corresponding to the rotation
    specified by the rotation matrix.

Example

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    IDL> theta=!PI/3.
    IDL> rm = [[COS(theta),0,-SIN(theta)],[0,1,0],[SIN(theta),0,COS(theta)]]
    IDL> quat = MATRIX2QUATERNION(rm)
    IDL> PRINT, quat
          0.00000 -0.50000 0.00000 0.866025

Modification History

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    Written by: Jeremy Bailin
    27 Nov 2008 Released in JBIU