 ### Orientation and Coordinate Frame Transformations

 dcm2euler_v000.m DCM to Euler Angles dcm2heading_v000.m computes yaw angle from dcm dcm2llh_v000.m $$C_e^n$$ (Earth to navigation frame DCM) to latitude, longitude, wander angle dcm2quat_v000.m Direction Cosine Matrix (DCM) to Quaternion dcm2rot_v000.m DCM to Rotation Vector dir2euler_v000.m Given a direction vector, computes the orientation (assumes roll=0) (e.g. Given the difference of 2 succesive GPS coordinates, computes the orientation of the vehicle assumung roll=0) ecef2geo_v000.m Converts ECEF (Earth centered Earth Fixed) position to Llh (Geodetic Position) and vice versa euler2dcm_v000.m Transforms Euler angles to DCM llh2dcm_v000.m Given latitude and longtitude and wander angle, computes $$C_n^e$$ tranformation matrix (Navigation frame to ECEF DCM) quat2dcm_v000.m Convert quaternion into DCM quat2rot_v000.m Quaternion to Rotation Vector quatmult_v001.m Quaternion multiplication quatrot_v000.m Vector transformation using quaternions (rotate a vector given a quaternion) rot2dcm_v000.m Rotation vector to direction cosine matrix rvec2quat_v000.m Rotation vector to quaternion