API or Math/lib for Quaternion -> Rotation Matrix conversion

I am writing an Android App (Java) and I need to express my rotations using a 3x3 rotation matrix

I want to interact with mbientlab sensors using the SensorFusion API but as far as I can tell the data I want come as Quaternions.

Is there a handy mbientlab API for the conversion or maybe some Android or other 3rd party lib for such?



  • There should already be libraries for Java/Android. A little google-fu should go a long way.
    Just make sure they are reputable and well maintained.

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