|
3452
|
1 ## Copyright (C) 1998 Auburn University. All rights reserved. |
|
|
2 ## |
|
|
3 ## This file is part of Octave. |
|
|
4 ## |
|
|
5 ## Octave is free software; you can redistribute it and/or modify it |
|
|
6 ## under the terms of the GNU General Public License as published by |
|
|
7 ## the Free Software Foundation; either version 2, or (at your option) |
|
|
8 ## any later version. |
|
|
9 ## |
|
|
10 ## Octave is distributed in the hope that it will be useful, but |
|
|
11 ## WITHOUT ANY WARRANTY; without even the implied warranty of |
|
|
12 ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
|
13 ## General Public License for more details. |
|
|
14 ## |
|
|
15 ## You should have received a copy of the GNU General Public License |
|
|
16 ## along with Octave; see the file COPYING. If not, write to the Free |
|
5307
|
17 ## Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA |
|
|
18 ## 02110-1301, USA. |
|
3224
|
19 |
|
3452
|
20 ## -*- texinfo -*- |
|
|
21 ## @deftypefn {Function File} {} qtrans (@var{v}, @var{q}) |
|
|
22 ## Transform the unit quaternion @var{v} by the unit quaternion @var{q}. |
|
|
23 ## Returns @code{@var{v} = @var{q}*@var{v}/@var{q}}. |
|
|
24 ## @end deftypefn |
|
|
25 |
|
|
26 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
|
|
27 ## Adapted-By: jwe |
|
3224
|
28 |
|
3452
|
29 function v = qtrans (v, q) |
|
|
30 |
|
4030
|
31 if (! isvector (v) || length (v) != 4) |
|
3452
|
32 error ("qtrans: v(%d,%d) must be a quaternion", rows (v), columns (v)); |
|
4030
|
33 elseif (! isvector (q) || length (q) != 4) |
|
3452
|
34 error ("qtrans: q(%d,%d) must be a quaternion", rows (q), columns (q)); |
|
|
35 endif |
|
|
36 |
|
|
37 v = qmult (q, qmult (v, qinv (q))); |
|
|
38 |
|
|
39 endfunction |
