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6. Prove that the Rotation Matrix R corresponding to quaternion q = (a, b, c, d) is given by 1. R= [2(a² +6²) - 1 2(bc + ad) 2(bd - ac) 2(bc-ad) 2(a² + c²) - 1 2(cd + ab) 2(bd + ac) 2(cd - ab) 2(a²+d²)-1,

6. Prove that the Rotation Matrix R corresponding to quaternion q = (a, b, c, d) is given by 1. R= [2(a² +6²) - 1 2(bc + ad) 2(bd - ac) 2(bc-ad) 2(a² + c²) - 1 2(cd + ab) 2(bd + ac) 2(cd - ab) 2(a²+d²)-1,

Advanced Engineering Mathematics
Advanced Engineering Mathematics
10th Edition
ISBN:9780470458365
Author:Erwin Kreyszig
Publisher:Erwin Kreyszig
Chapter2: Second-order Linear Odes
Section: Chapter Questions
Problem 1RQ
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6. Prove that the Rotation Matrix R corresponding to quaternion q = (a, b, c, d) is given by 1. Ꭱ . = [2(a² +6²) - 1 2(bc + ad) 2(bd - ac) 2(bc - ad) 2(a² + c²) - 1 2(cd + ab) 2(bd + ac) 2(cd - ab) 2(a²+d²)-1]
Transcribed Image Text:6. Prove that the Rotation Matrix R corresponding to quaternion q = (a, b, c, d) is given by 1. Ꭱ . = [2(a² +6²) - 1 2(bc + ad) 2(bd - ac) 2(bc - ad) 2(a² + c²) - 1 2(cd + ab) 2(bd + ac) 2(cd - ab) 2(a²+d²)-1]
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