I have a position of the body. Its position is [x, y, z] and orientation as a quaternion vector [q0, qx, qy, qz]. (Note: This is defined in world frame of reference.)
Now, I want to convert this to orientation to a rotation matrix which transform a point from body-frame to world frame.
I haven't found exact definitions for this kind of conversion. Everybody just talks about rotation in general. And when orientation is defined, it is very difficult to get its detailed definition. I will really appreciate if anyone will provide a precise definition for this transformation?
Now, I want to convert this to orientation to a rotation matrix which transform a point from body-frame to world frame.
I haven't found exact definitions for this kind of conversion. Everybody just talks about rotation in general. And when orientation is defined, it is very difficult to get its detailed definition. I will really appreciate if anyone will provide a precise definition for this transformation?
Thank you.