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comparison scripts/quaternion/quaternion.m @ 3458:d25bc039237b

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[project @ 2000-01-19 09:36:14 by jwe]
author jwe
date Wed, 19 Jan 2000 09:36:28 +0000
parents e031284eea27
children 22bd65326ec1
comparison
equal deleted inserted replaced
3457:e031284eea27 3458:d25bc039237b
83 if (! is_vector (vv) || length (vv) != 3) 83 if (! is_vector (vv) || length (vv) != 3)
84 error ("vv must be a length three vector"); 84 error ("vv must be a length three vector");
85 elseif (! is_scalar (theta)) 85 elseif (! is_scalar (theta))
86 error ("theta must be a scalar"); 86 error ("theta must be a scalar");
87 elseif (norm (vv) == 0) 87 elseif (norm (vv) == 0)
88 error ("quaternion: vv is zero."); 88 error ("quaternion: vv is zero");
89 elseif (abs (norm (vv) - 1) > 1e-12) 89 elseif (abs (norm (vv) - 1) > 1e-12)
90 warning ("quaternion: ||vv|| != 1, normalizing") 90 warning ("quaternion: ||vv|| != 1, normalizing")
91 vv = vv / norm (vv); 91 vv = vv / norm (vv);
92 endif 92 endif
93 93
102 case(4) 102 case(4)
103 if (nargout != 1) 103 if (nargout != 1)
104 usage ("w = quaterion (a, b, c, d)"); 104 usage ("w = quaterion (a, b, c, d)");
105 endif 105 endif
106 if (! (is_scalar (w) && is_scalar (x) && is_scalar (y) && is_scalar (z))) 106 if (! (is_scalar (w) && is_scalar (x) && is_scalar (y) && is_scalar (z)))
107 error ("input values must be scalars."); 107 error ("input values must be scalars");
108 endif 108 endif
109 a = [w, x, y, z]; 109 a = [w, x, y, z];
110 110
111 otherwise 111 otherwise
112 usage ("[a, b, c, d] = quaternion (w) or a = quaternion (w, x, y, z)"); 112 usage ("[a, b, c, d] = quaternion (w) or a = quaternion (w, x, y, z)");