Method: Matrix#rot4

Defined in:
lib/openc3/core_ext/matrix.rb

#rot4(quaternion) ⇒ Object 



143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
 
# File 'lib/openc3/core_ext/matrix.rb', line 143

def rot4(quaternion)
  # Get rotation matrix
  r = Matrix.cfromq(quaternion)

  4.times do |row|
    x = @rows[0][row]
    y = @rows[1][row]
    z = @rows[2][row]
    3.times do |i|
      @rows[i][row] = x * r[i][0] + y * r[i][1] + z * r[i][2]
    end
  end
  # Ensure the final row is floating point for consistency
  @rows[3].map! { |x| x.to_f }
  return self
end