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47 lines
2.2 KiB
47 lines
2.2 KiB
3 years ago
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% Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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% All rights reserved.
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%
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% Redistribution and use in source and binary forms, with or without
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% modification, are permitted provided that the following conditions are met:
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%
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% * Redistributions of source code must retain the above copyright
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% notice, this list of conditions and the following disclaimer.
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%
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% * Redistributions in binary form must reproduce the above copyright
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% notice, this list of conditions and the following disclaimer in the
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% documentation and/or other materials provided with the distribution.
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%
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% * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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% its contributors may be used to endorse or promote products derived
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% from this software without specific prior written permission.
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%
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% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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% POSSIBILITY OF SUCH DAMAGE.
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%
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% Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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function rotmat = quat2rotmat(qvec)
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rotmat = [1 - 2 * qvec(3).^2 - 2 * qvec(4).^2, ...
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2 * qvec(2) * qvec(3) - 2 * qvec(1) * qvec(4), ...
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2 * qvec(4) * qvec(2) + 2 * qvec(1) * qvec(3); ...
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2 * qvec(2) * qvec(3) + 2 * qvec(1) * qvec(4), ...
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1 - 2 * qvec(2).^2 - 2 * qvec(4).^2, ...
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2 * qvec(3) * qvec(4) - 2 * qvec(1) * qvec(2); ...
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2 * qvec(4) * qvec(2) - 2 * qvec(1) * qvec(3), ...
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2 * qvec(3) * qvec(4) + 2 * qvec(1) * qvec(2), ...
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1 - 2 * qvec(2).^2 - 2 * qvec(3).^2];
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end
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