Getting the direction cosine matrix (DCM) from quaternions is given in equation 1
(proof of this conversion to come)
Testing some escape charachters for html category with a generator has an injective cogenerator" now escape ” with "
![$\displaystyle \left[ \begin{array}{ccc} A_{11} & A_{12} & A_{13} \ A_{21} & A... ..._4) & 2(q_2 q_3 - q_1 q_4) & -q_1^2 - q_2^2 + q_3^2 + q_4^2 \end{array} \right]$](http://images.physicslibrary.org/cache/objects/86/l2h/img1.png "$\displaystyle \left[ \begin{array}{ccc} A_{11} & A_{12} & A_{13} \ A_{21} & A... ..._4) & 2(q_2 q_3 - q_1 q_4) & -q_1^2 - q_2^2 + q_3^2 + q_4^2 \end{array} \right]$")