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1 ## Copyright (C) 1998, 2000, 2002, 2005, 2007 |
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2 ## Auburn University. All rights reserved. |
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3 ## |
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4 ## This file is part of Octave. |
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5 ## |
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6 ## Octave is free software; you can redistribute it and/or modify it |
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7 ## under the terms of the GNU General Public License as published by |
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8 ## the Free Software Foundation; either version 3 of the License, or (at |
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9 ## your option) any later version. |
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10 ## |
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11 ## Octave is distributed in the hope that it will be useful, but |
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12 ## WITHOUT ANY WARRANTY; without even the implied warranty of |
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13 ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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14 ## General Public License for more details. |
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15 ## |
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16 ## You should have received a copy of the GNU General Public License |
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17 ## along with Octave; see the file COPYING. If not, see |
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18 ## <http://www.gnu.org/licenses/>. |
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19 |
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20 ## -*- texinfo -*- |
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21 ## @deftypefn {Function File} {} qtrans (@var{v}, @var{q}) |
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22 ## Transform the unit quaternion @var{v} by the unit quaternion @var{q}. |
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23 ## Returns @code{@var{v} = @var{q}*@var{v}/@var{q}}. |
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24 ## @end deftypefn |
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25 |
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26 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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27 ## Adapted-By: jwe |
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28 |
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29 function v = qtrans (v, q) |
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30 |
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31 if (nargin != 2) |
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32 print_usage (); |
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33 endif |
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34 |
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35 if (! isvector (v) || length (v) != 4) |
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36 error ("qtrans: v(%d,%d) must be a quaternion", rows (v), columns (v)); |
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37 elseif (! isvector (q) || length (q) != 4) |
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38 error ("qtrans: q(%d,%d) must be a quaternion", rows (q), columns (q)); |
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39 endif |
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40 |
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41 v = qmult (q, qmult (v, qinv (q))); |
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42 |
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43 endfunction |
