function 'rotmat' documentation

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Hyunmi Oh
Hyunmi Oh 2018-7-16
评论： Hyunmi Oh 2018-7-17
Hello,
I have a simple question regarding the algorithm in rotmat documentation page.
https://www.mathworks.com/help/robotics/ref/quaternion.quaternionrotmat.html
If we transpose the "equivalent rotation matrix(upper one) for the frame rotation", shouldn't the equation in the lower matrix[1,2] be 2bc-2ac and the equation in the lower matrix[2,1] be 2bc+2ad, accordingly?
I've included a screenshot of the matrices below.
Thanks in advance, Hyunmi
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KARSH THARYANI
KARSH THARYANI 2018-7-16
I think you are right, it seems like a typo.
Hyunmi Oh
Hyunmi Oh 2018-7-17
Okay. Thank you, Karsh!
Hyunmi

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