% the direction matrix approach. % The direction cosines representation the attitude of the body frame % relative to the global frame is specified by a 3x3 rotation matrix C, % in which each column is a unit vector alone one of the body axes % specified in terms of the global axes. % for more info see ch6.1, pp21 "an introduction to inertial navigation" % from Oliver J. Woodman
% see rotation matrices and homogeneous transformation for more info.