1 function R = quat2rot_mat(q)
4 % Copyright (c) 2014 Samsung Electronics Co., Ltd.
6 % Licensed under the Apache License, Version 2.0 (the "License");
7 % you may not use this file except in compliance with the License.
8 % You may obtain a copy of the License at
10 % http://www.apache.org/licenses/LICENSE-2.0
12 % Unless required by applicable law or agreed to in writing, software
13 % distributed under the License is distributed on an "AS IS" BASIS,
14 % WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 % See the License for the specific language governing permissions and
16 % limitations under the License.
18 % Converts a quaternion orientation to a rotation matrix.
20 R(1,1,:) = 2.*q(:,1).^2-1+2.*q(:,2).^2;
21 R(1,2,:) = 2.*(q(:,2).*q(:,3)+q(:,1).*q(:,4));
22 R(1,3,:) = 2.*(q(:,2).*q(:,4)-q(:,1).*q(:,3));
23 R(2,1,:) = 2.*(q(:,2).*q(:,3)-q(:,1).*q(:,4));
24 R(2,2,:) = 2.*q(:,1).^2-1+2.*q(:,3).^2;
25 R(2,3,:) = 2.*(q(:,3).*q(:,4)+q(:,1).*q(:,2));
26 R(3,1,:) = 2.*(q(:,2).*q(:,4)+q(:,1).*q(:,3));
27 R(3,2,:) = 2.*(q(:,3).*q(:,4)-q(:,1).*q(:,2));
28 R(3,3,:) = 2.*q(:,1).^2-1+2.*q(:,4).^2;