qlib.mdl

四元数表示的

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"atrix (DCM) that would perform the equivalent vector transformation, i.e., Rv"
" = q*vq, where R is the DCM, v is a vector, and q is the quaternion.\n\nNote "
"that for purposes of quaternion-vector multiplication, a vector is treated as"
" a quaterion with a scalar element of zero."
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