function 'rotmat' documentation

Hello,

I have a simple question regarding the algorithm in rotmat documentation page.

https://www.mathworks.com/help/robotics/ref/quaternion.quaternionrotmat.html

If we transpose the "equivalent rotation matrix(upper one) for the frame rotation", shouldn't the equation in the lower matrix[1,2] be 2bc-2ac and the equation in the lower matrix[2,1] be 2bc+2ad, accordingly?

I've included a screenshot of the matrices below.

Thanks in advance, Hyunmi

[KARSH THARYANI]

Hi Hyunmi,

I am unable to view the screenshot in the link. Is it possible for you to attach this screenshot, here, with this question?

Karsh

[Hyunmi Oh]

[KARSH THARYANI]

I think you are right, it seems like a typo.

[Hyunmi Oh]

Okay. Thank you, Karsh!

Hyunmi