Itzhack’s Method

ahrs.common.orientation.itzhack(dcm: ndarray, version: int = 3) → ndarray

Quaternion from a Direction Cosine Matrix with Bar-Itzhack’s method [Itzhack].

Versions 1 and 2 are used with orthogonal matrices (which all rotation matrices should be.)

Parameters:

• dcm (numpy.ndarray) – 3-by-3 Direction Cosine Matrix.

• version (int, default: 3) – Version used to compute the Quaternion. Options are 1, 2 or 3.

Returns:

q – Quaternion.

Return type:

numpy.ndarray