QMRITools`
QMRITools`
QuaternionVectorToRotationMatrix
QuaternionVectorToRotationMatrix[{b,c,d}]
converts quarternion to rotation matrix R.
Examples
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In[1]:=1
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https://wolfram.com/xid/0sxrkxrumyozynxxw27n0xyonaq0m5omv5gi-epw91e
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