from_DCM

Quaternion.from_DCM(dcm: numpy.ndarray, method: str = 'chiaverini', **kw) → numpy.ndarray

Quaternion from Direction Cosine Matrix.

There are five methods available to obtain a quaternion from a Direction Cosine Matrix:

• 'chiaverini' as described in [Chiaverini]
• 'hughes' as described in [Hughes]
• 'itzhack' as described in [Bar-Itzhack]
• 'sarabandi' as described in [Sarabandi]
• 'shepperd' as described in [Shepperd]

Parameters:

• dcm (numpy.ndarray) – 3-by-3 Direction Cosine Matrix.
• method (str, default: 'chiaverini') – Method to use. Options are: ‘chiaverini’, ‘hughes’, ‘itzhack’, ‘sarabandi’, and ‘shepperd’.