ConvertAttitude.m

Easily convert between common attitude parameter sets

This function will convert between the following attitude parameter sets:
- Direction Cosine Matrix (DCM)
- Euler Angles (all 12 sets are supported)
- Quaternions (Euler parameters)
- Principal Rotation Vector (PRV)
- Classical Rodrigues Parameters (CRP, Gibbs vector)
- Modified Rodrigues Parameters (MRP)
Additionally, this function can easily convert a batch of attitudes from one parameterization to another.

SINGLE ATTITUDE EXAMPLE:

Convert an MRP to 3-2-1 Euler Angle sequence.

newAttitude = ConvertAttitude([.1; .2; .3], 'mrp', '321')

newAttitude =
1.3564
0.3519
0.7416

BATCH ATTITUDE EXAMPLE:

newAttitude = ConvertAttitude([[.1; .2; .3],[.3; .2; .1]], 'mrp', '321')

newAttitude =
1.3564, 0.7416
0.3519, 0.3519
0.7416, 1.3564

Note than any angles must be in radians. Let me know if you'd like this function to support additional parameter sets.