QMRITools`
QMRITools`
QuaternionToRotationMatrix
QuaternionToRotationMatrix[{a,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/0brefitm1f0ha4g33q9owogohw9dm9s21e-qnmcow
Direct link to example