quaternion_matrix

Parameters

p

4 element vector representing the quaternion.

PM

4x4 multiplication matrix

Description

quaternion_matrix generates quaternion multiplication matrix.

PM = quaternion_matrix(q)

returns PM such that PM * q = quaternion_multiply(p,q).

Examples

q = rand(4,1); p = rand(4,1); // these two routines should give the same result: quaternion_multiply(p,q) quaternion_matrix(p) * q

Authors

• Ricardo Fabbri <ricardofabbri[at]users.sf.net>

Availability

http://siptoolbox.sf.net

See Also

• rot_matrix2quaternion
• quaternion2rot_matrix
• exp2rot_matrix