/*

-Procedure      q2m_c ( Quaternion to matrix )

-Abstract
 
   Find the rotation matrix corresponding to a specified unit 
   quaternion. 
 
-Disclaimer

   THIS SOFTWARE AND ANY RELATED MATERIALS WERE CREATED BY THE
   CALIFORNIA INSTITUTE OF TECHNOLOGY (CALTECH) UNDER A U.S.
   GOVERNMENT CONTRACT WITH THE NATIONAL AERONAUTICS AND SPACE
   ADMINISTRATION (NASA). THE SOFTWARE IS TECHNOLOGY AND SOFTWARE
   PUBLICLY AVAILABLE UNDER U.S. EXPORT LAWS AND IS PROVIDED "AS-IS"
   TO THE RECIPIENT WITHOUT WARRANTY OF ANY KIND, INCLUDING ANY
   WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A
   PARTICULAR USE OR PURPOSE (AS SET FORTH IN UNITED STATES UCC
   SECTIONS 2312-2313) OR FOR ANY PURPOSE WHATSOEVER, FOR THE
   SOFTWARE AND RELATED MATERIALS, HOWEVER USED.

   IN NO EVENT SHALL CALTECH, ITS JET PROPULSION LABORATORY, OR NASA
   BE LIABLE FOR ANY DAMAGES AND/OR COSTS, INCLUDING, BUT NOT
   LIMITED TO, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND,
   INCLUDING ECONOMIC DAMAGE OR INJURY TO PROPERTY AND LOST PROFITS,
   REGARDLESS OF WHETHER CALTECH, JPL, OR NASA BE ADVISED, HAVE
   REASON TO KNOW, OR, IN FACT, SHALL KNOW OF THE POSSIBILITY.

   RECIPIENT BEARS ALL RISK RELATING TO QUALITY AND PERFORMANCE OF
   THE SOFTWARE AND ANY RELATED MATERIALS, AND AGREES TO INDEMNIFY
   CALTECH AND NASA FOR ALL THIRD-PARTY CLAIMS RESULTING FROM THE
   ACTIONS OF RECIPIENT IN THE USE OF THE SOFTWARE.

-Required_Reading
 
   ROTATION 
 
-Keywords
 
   MATH 
   MATRIX 
   ROTATION 
 
*/

   #include "SpiceUsr.h"
   #include "SpiceZfc.h"
   #include "SpiceZim.h"
   #undef    q2m_c
   

   void q2m_c ( ConstSpiceDouble  q[4], 
                SpiceDouble       r[3][3] ) 
/*

-Brief_I/O
 
   Variable  I/O  Description 
   --------  ---  -------------------------------------------------- 
   q          I   A unit quaternion. 
   r          O   A rotation matrix corresponding to `q'. 
 
-Detailed_Input
 
   q              is a unit-length SPICE-style quaternion representing
                  a rotation. `q' has the property that
 
                     || q ||  =  1

                  See the discussion of quaternion styles in
                  Particulars below.

-Detailed_Output
 
   r              is a 3 by 3 rotation matrix representing the same
                  rotation as does `q'. See the discussion titled
                  "Associating SPICE Quaternions with Rotation
                  Matrices" in Particulars below.
 
-Parameters
 
   None. 
 
-Exceptions
 
   Error free. 
 
   1)  If `q' is not a unit quaternion, the output matrix `r' is 
       unlikely to be a rotation matrix. 
 
-Files
 
   None. 
 
-Particulars
 
   If a 4-dimensional vector `q' satisfies the equality 
 
      || q ||   =  1 
 
   or equivalently 
 
          2          2          2          2 
      q(0)   +   q(1)   +   q(2)   +   q(3)   =  1, 
 
   then we can always find a unit vector `q' and a scalar `theta' such
   that
 
      q = 

      ( cos(theta/2), sin(theta/2)a(1), sin(theta/2)a(2), sin(theta/2)a(3) )
 
   We can interpret `a' and `theta' as the axis and rotation angle of a
   rotation in 3-space. If we restrict `theta' to the range [0, pi],
   then `theta' and `a' are uniquely determined, except if theta = pi.
   In this special case, `a' and -a are both valid rotation axes.
 
   Every rotation is represented by a unique orthogonal matrix; this 
   routine returns that unique rotation matrix corresponding to `q'. 
 
   The CSPICE routine m2q_c is a one-sided inverse of this routine: 
   given any rotation matrix `r', the calls 
 
      m2q_c ( r, q ) 
      q2m_c ( q, r ) 
 
   leave `r' unchanged, except for round-off error.  However, the 
   calls 
 
      q2m_c ( q, r ) 
      m2q_c ( r, q ) 
 
   might preserve `q' or convert `q' to -q.


   Quaternion Styles
   -----------------

   There are different "styles" of quaternions used in
   science and engineering applications. Quaternion styles
   are characterized by

      - The order of quaternion elements

      - The quaternion multiplication formula

      - The convention for associating quaternions
        with rotation matrices

   Two of the commonly used styles are

      - "SPICE"

         > Invented by Sir William Rowan Hamilton
         > Frequently used in mathematics and physics textbooks

      - "Engineering"

         > Widely used in aerospace engineering applications


   CSPICE function interfaces ALWAYS use SPICE quaternions.
   Quaternions of any other style must be converted to SPICE
   quaternions before they are passed to CSPICE functions.


   Relationship between SPICE and Engineering Quaternions
   ------------------------------------------------------

   Let M be a rotation matrix such that for any vector V,

      M*V

   is the result of rotating V by theta radians in the
   counterclockwise direction about unit rotation axis vector A.
   Then the SPICE quaternions representing M are

      (+/-) (  cos(theta/2),
               sin(theta/2) A(1),
               sin(theta/2) A(2),
               sin(theta/2) A(3)  )

   while the engineering quaternions representing M are

      (+/-) ( -sin(theta/2) A(1),
              -sin(theta/2) A(2),
              -sin(theta/2) A(3),
               cos(theta/2)       )

   For both styles of quaternions, if a quaternion q represents
   a rotation matrix M, then -q represents M as well.

   Given an engineering quaternion

      QENG   = ( q0,  q1,  q2,  q3 )

   the equivalent SPICE quaternion is

      QSPICE = ( q3, -q0, -q1, -q2 )


   Associating SPICE Quaternions with Rotation Matrices
   ----------------------------------------------------

   Let FROM and TO be two right-handed reference frames, for
   example, an inertial frame and a spacecraft-fixed frame. Let the
   symbols

      V    ,   V
       FROM     TO

   denote, respectively, an arbitrary vector expressed relative to
   the FROM and TO frames. Let M denote the transformation matrix
   that transforms vectors from frame FROM to frame TO; then

      V   =  M * V
       TO         FROM

   where the expression on the right hand side represents left
   multiplication of the vector by the matrix.

   Then if the unit-length SPICE quaternion q represents M, where

      q = (q0, q1, q2, q3)

   the elements of M are derived from the elements of q as follows:

        +-                                                         -+
        |           2    2                                          |
        | 1 - 2*( q2 + q3 )   2*(q1*q2 - q0*q3)   2*(q1*q3 + q0*q2) |
        |                                                           |
        |                                                           |
        |                               2    2                      |
    M = | 2*(q1*q2 + q0*q3)   1 - 2*( q1 + q3 )   2*(q2*q3 - q0*q1) |
        |                                                           |
        |                                                           |
        |                                                   2    2  |
        | 2*(q1*q3 - q0*q2)   2*(q2*q3 + q0*q1)   1 - 2*( q1 + q2 ) |
        |                                                           |
        +-                                                         -+

   Note that substituting the elements of -q for those of q in the
   right hand side leaves each element of M unchanged; this shows
   that if a quaternion q represents a matrix M, then so does the
   quaternion -q.

   To map the rotation matrix M to a unit quaternion, we start by
   decomposing the rotation matrix as a sum of symmetric
   and skew-symmetric parts:

                                      2
      M = [ I  +  (1-cos(theta)) OMEGA  ] + [ sin(theta) OMEGA ]

                   symmetric                   skew-symmetric


   OMEGA is a skew-symmetric matrix of the form

                 +-             -+
                 |  0   -n3   n2 |
                 |               |
       OMEGA  =  |  n3   0   -n1 |
                 |               |
                 | -n2   n1   0  |
                 +-             -+

   The vector N of matrix entries (n1, n2, n3) is the rotation axis
   of M and theta is M's rotation angle.  Note that N and theta
   are not unique.

   Let

      C = cos(theta/2)
      S = sin(theta/2)

   Then the unit quaternions Q corresponding to M are

      Q = +/- ( C, S*n1, S*n2, S*n3 )

   The mappings between quaternions and the corresponding rotations
   are carried out by the CSPICE routines

      q2m_c {quaternion to matrix}
      m2q_c {matrix to quaternion}

   m2q_c always returns a quaternion with scalar part greater than
   or equal to zero.


   SPICE Quaternion Multiplication Formula
   ---------------------------------------

   Given a SPICE quaternion

      Q = ( q0, q1, q2, q3 )

   corresponding to rotation axis A and angle theta as above, we can
   represent Q using "scalar + vector" notation as follows:

      s =   q0           = cos(theta/2)

      v = ( q1, q2, q3 ) = sin(theta/2) * A

      Q = s + v

   Let Q1 and Q2 be SPICE quaternions with respective scalar
   and vector parts s1, s2 and v1, v2:

      Q1 = s1 + v1
      Q2 = s2 + v2

   We represent the dot product of v1 and v2 by

      <v1, v2>

   and the cross product of v1 and v2 by

      v1 x v2

   Then the SPICE quaternion product is

      Q1*Q2 = s1*s2 - <v1,v2>  + s1*v2 + s2*v1 + (v1 x v2)

   If Q1 and Q2 represent the rotation matrices M1 and M2
   respectively, then the quaternion product

      Q1*Q2

   represents the matrix product

      M1*M2
 
 
-Examples
 

   1)  A case amenable to checking by hand calculation:

          To convert the rotation matrix

                   +-              -+
                   |  0     1    0  |
                   |                |
             r  =  | -1     0    0  |
                   |                |
                   |  0     0    1  |
                   +-              -+

          also represented as

             [ pi/2 ]
                     3

          to a quaternion, we can use the code fragment

             rotate_c (  halfpi_c(),  3,  r );
             m2q_c    (  r,               q );

          m2q_c will return `q' as

             ( sqrt(2)/2, 0, 0, -sqrt(2)/2 )

          Why?  Well, `r' is a reference frame transformation that
          rotates vectors by -pi/2 radians about the axis vector

              a = ( 0, 0, 1 )

          Equivalently, `r' rotates vectors by pi/2 radians in
          the counterclockwise sense about the axis vector 

             -a = ( 0, 0, -1 )
   
          so our definition of `q',

             h = theta/2

             q = ( cos(h), sin(h)a , sin(h)a , sin(h)a  )
                                  1         2         3

          implies that in this case,

             q =  ( cos(pi/4),  0,  0,  -sin(pi/4) )

               =  ( sqrt(2)/2,  0,  0,  -sqrt(2)/2 )
 
 
   2)  Finding a set of Euler angles that represent a rotation 
       specified by a quaternion: 
 
          Suppose our rotation `r' is represented by the quaternion 
          `q'.  To find angles `tau', `alpha', `delta' such that 
 
 
             r  =  [ tau ]  [ pi/2 - delta ]  [ alpha ] 
                          3                 2          3 
 
          we can use the code fragment 
 
 
             q2m_c   ( q, r );
             m2eul_c ( r, 3, 2, 3, tau, delta, alpha );
 
             delta = halfpi_c() - delta; 
 
-Restrictions
 
   None. 
 
-Literature_References
 
   [1]    NAIF document 179.0, "Rotations and their Habits", by 
          W. L. Taber. 
 
-Author_and_Institution
 
   N.J. Bachman   (JPL) 
   E.D. Wright    (JPL)

-Version
 
   -CSPICE Version 1.3.2, 27-FEB-2008 (NJB)

      Updated header; added information about SPICE quaternion
      conventions. Made miscellaneous edits throughout header.

   -CSPICE Version 1.3.1, 06-FEB-2003 (EDW)

       Corrected typo error in Examples section.

   -CSPICE Version 1.3.0, 24-JUL-2001   (NJB)

       Changed prototype:  input q is now type (ConstSpiceDouble [4]).
       Implemented interface macro for casting input q to const.

   -CSPICE Version 1.2.0, 08-FEB-1998 (NJB)
   
      Removed local variables used for temporary capture of outputs.
      Removed tracing calls, since the underlying Fortran routine
      is error-free.

   -CSPICE Version 1.0.0, 25-OCT-1997 (NJB)
   
      Based on SPICELIB Version 1.0.1, 10-MAR-1992 (WLT)

-Index_Entries
 
   quaternion to matrix 
 
-&
*/

{ /* Begin q2m_c */


   /*
   Call the f2c'd version of q2m:
   */
   q2m_ ( (doublereal *) q,
          (doublereal *) r );
          
   /*
   Transpose the output matrix to put it in row-major order.
   */
   xpose_c ( r, r );
          

} /* End q2m_c */
