rotV() rotates a 3-vector by a quaternion expressed as a unit 4-vector in
(w,x,y,z) convention
Arguments
- quat
A numeric unit 4-vector (w,x,y,z) for a rotation quaternion
- vin
A numeric 3-vector to be rotated by quat
Value
A numeric 3-vector after the rotation
Examples
q <- c(cos(pi/4), sin(pi/4), 0, 0)
vin <- c(0, 1, 0)
rotV(q, vin)
#> [1] 0.000000e+00 2.220446e-16 1.000000e+00
