[Vxl-users] vnl_quaternion.rotation_matrix

[Brendan M. <mc...@cs...>]

G'day,

I noticed that vnl_quaternion has a method called rotation_matrix that 
purportedly returns a 3x3 rotation matrix equivalent to the given 
quaternion. I also noticed that the method is prefixed with a comment that 
says it is misnamed and shouldn't be used. Further, it appears that this 
method actually returns the transpose of the actual rotation matrix. So, 
a) is there a reason why the method returns the transpose of the expected 
matrix?
b) can it be changed to return the correct one (or is there some legacy 
code which relies on it)?
c) or at least can we change the comments to indicate what can be used 
instead?

-- 
Cheers,

Brendan.
------------------------------------------------
Brendan McCane, University of Otago, Dunedin, NZ