Mercurial > hg > octave-lyh
comparison scripts/quaternion/qtrans.m @ 3224:1e7532b9173b
[project @ 1998-12-04 22:08:23 by jwe]
| author | jwe |
|---|---|
| date | Fri, 04 Dec 1998 22:08:23 +0000 |
| parents | |
| children | a892190f4977 |
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| 3223:3ee04ff37b3e | 3224:1e7532b9173b |
|---|---|
| 1 function v = qtrans(v,q) | |
| 2 # function v = qtrans(v,q) | |
| 3 # transform the unit quaternion v by the unit quaternion q; | |
| 4 # v = [w x y z], q = transformation quaternion | |
| 5 # returns v = q*v/q | |
| 6 | |
| 7 if(!is_vector(v) | length(v) != 4) | |
| 8 error(sprintf("qtrans: v(%d,%d) must be a quaternion",rows(v),columns(v))) | |
| 9 elseif(!is_vector(q) | length(q) != 4) | |
| 10 error(sprintf("qtrans: q(%d,%d) must be a quaternion",rows(q),columns(q))) | |
| 11 endif | |
| 12 | |
| 13 v = qmult(q,qmult(v,qinv(q))); |