:Ԫתת

ʽ:SLAM_QToV(a)

a:Ϊһ4Ԫصľ

˵: 
1aд洢ԪʽΪ[c, m * s , n * s , l * s], c = cos(theta/2), s = sin(theta/2), [m,n,l]Ϊλת, theta ΪƵλתŶĽǶ
2aûһԶһ
3ִϷһ3*1ת

:
q = 1:4;
v = SLAM_QToV(q)//سõ½
v =
[-1.03038058532817
 -1.54557087799226
 -2.06076117065634 ]
