:תתλԪ

ʽ:SLAM_VToQ(a)

a:Ϊһ3Ԫصľ

˵: ִϷһ4*1ĵλԪ

:
v = [0.1,0.2,0.3];
q = SLAM_VToQ(v)//سõ½
q =
[ 0.98255098215525
 -0.04970884332485
 -0.09941768664971
 -0.14912652997457 ]