This notebook is a continuation of representing orientation of the vehicle based on its Body Frame.
As seen in the Euler Angle notebook, a vehicles orientation within the Local Frame can be given by the orientation of the Body Frame. Though, unlike with computationally expensive Rotation Matrices, a single Quaternion accomplishes the same thing, mathematically, as a series of rotation matrix multiplication in a more compact form.
Using Quaternions, we can still represent vehicle orientation and changes thereof:
Not only can we convert between Quaternions and Rotation Matrices...
... But, we can also convert Quaternions to Euler Angles
And even multiply Quaternions together:
