--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extra/quaternion-legacy/COPYING	Wed Mar 28 03:16:58 2012 +0000
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
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+                       TERMS AND CONDITIONS
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+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extra/quaternion-legacy/DESCRIPTION	Wed Mar 28 03:16:58 2012 +0000
@@ -0,0 +1,13 @@
+Name: quaternion
+Version: 1.0.0
+Date: 2008-07-17
+Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
+Maintainer: The Octave-Forge Community
+Title: Quaternion Package
+Description: Package for the manipulation of Quaternion's used for
+ frame transformation
+Categories: Mathematics
+Depends: octave (>= 3.1.0)
+Autoload: yes
+License: GPL version 3 or later
+Url: http://octave.sf.net

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
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+Fh(b)1949 2325 y Fq(\()p Fo(t)p Fq(\))2067 2206 y Fi(\022)2129
+2325 y Fq(1)21 b(+)2285 2206 y Fi(\022)2357 2264 y Fo(!)s
+Fq(\001)p Fo(t)p 2357 2304 V 2418 2388 a Fq(2)2535 2206
+y Fi(\023)2621 2302 y Fq(\026)2611 2325 y(\012)f(+)g
+Fl(\001)15 b(\001)g(\001)2894 2206 y Fi(\023)950 2559
+y Fo(q)991 2574 y Fh(b)1025 2559 y Fq(\()p Fo(t)20 b
+Fq(+)g(\001)p Fo(t)p Fq(\))g Fl(\000)g Fo(q)1500 2574
+y Fh(b)1534 2559 y Fq(\()p Fo(t)p Fq(\))83 b(=)g Fo(q)1915
+2574 y Fh(b)1949 2559 y Fq(\()p Fo(t)p Fq(\))2067 2440
+y Fi(\022)2139 2497 y Fo(!)s Fq(\001)p Fo(t)p 2139 2538
+V 2200 2621 a Fq(2)2317 2440 y Fi(\023)2404 2536 y Fq(\026)2393
+2559 y(\012)20 b(+)g Fl(\001)15 b(\001)g(\001)940 2737
+y Fo(q)981 2752 y Fh(b)1015 2737 y Fq(\()p Fo(t)20 b
+Fq(+)g(\001)p Fo(t)p Fq(\))g Fl(\000)g Fo(q)1490 2752
+y Fh(b)1524 2737 y Fq(\()p Fo(t)p Fq(\))p 940 2778 688
+4 v 1229 2861 a(\001)p Fo(t)1720 2799 y Fq(=)1874 2680
+y Fi(\022)1945 2737 y Fo(!)p 1945 2778 60 4 v 1952 2861
+a Fq(2)2015 2680 y Fi(\023)2091 2799 y Fo(q)2132 2814
+y Fh(b)2166 2799 y Fq(\()p Fo(t)p Fq(\))2279 2776 y(\026)2269
+2799 y(\012)h(+)f Fl(\001)15 b(\001)g(\001)0 3024 y Fq(W)-8
+b(e)32 b(tak)m(e)g(the)e(limit)e(at)j(\001)p Fo(t)25
+b Fl(!)g Fq(0)31 b(to)g(obtain)978 3171 y Fo(dq)1066
+3186 y Fh(b)p 978 3212 123 4 v 999 3295 a Fo(dt)1136
+3233 y Fq(=)1232 3114 y Fi(\022)1303 3171 y Fo(!)p 1303
+3212 60 4 v 1310 3295 a Fq(2)1373 3114 y Fi(\023)1449
+3233 y Fo(q)1490 3248 y Fh(b)1524 3233 y Fq(\()p Fo(t)p
+Fq(\))1637 3210 y(\026)1627 3233 y(\012)25 b(=)1824 3171
+y Fo(!)p 1824 3212 V 1831 3295 a Fq(2)1909 3164 y Fi(\000)1947
+3233 y Fo(q)1988 3248 y Fh(b;)p Fk(4)2087 3210 y Fq(\026)2077
+3233 y(\012)20 b Fl(\000)g Fq(\()7 b(\026)-52 b Fo(q)2330
+3248 y Fh(b)2384 3233 y Fl(\001)2440 3210 y Fq(\026)2430
+3233 y(\012)o(\))21 b Fl(\000)2652 3210 y Fq(\026)2642
+3233 y(\012)f Fl(\002)26 b Fq(\026)-51 b Fo(q)2860 3248
+y Fh(b)2894 3164 y Fi(\001)0 3592 y Fq(where)30 b Fo(x)21
+b Fl(\001)f Fo(y)29 b Fq(=)552 3528 y Fi(P)655 3592 y
+Fo(x)707 3607 y Fh(`)740 3592 y Fo(y)785 3607 y Fh(`)848
+3592 y Fq(is)h(the)h(v)m(ector)h(inner)d(\(dot\))j(pro)s(duct)d(and)h
+Fo(x)21 b Fl(\002)f Fo(y)29 b Fq(=)2689 3395 y Fi(\014)2689
+3445 y(\014)2689 3494 y(\014)2689 3544 y(\014)2689 3594
+y(\014)2689 3644 y(\014)2689 3694 y(\014)2716 3398 y(2)2716
+3544 y(6)2716 3597 y(4)2836 3462 y Fq(^)2843 3483 y Fo(i)3010
+3462 y Fq(^)3012 3483 y Fo(j)3185 3459 y Fq(^)3182 3483
+y Fo(k)2813 3596 y(x)2865 3610 y Fk(1)2987 3596 y Fo(x)3039
+3610 y Fk(2)3162 3596 y Fo(x)3214 3610 y Fk(3)2817 3709
+y Fo(y)2862 3723 y Fk(1)2991 3709 y Fo(y)3036 3723 y
+Fk(2)3166 3709 y Fo(y)3211 3723 y Fk(3)3295 3398 y Fi(3)3295
+3544 y(7)3295 3597 y(5)3350 3395 y(\014)3350 3445 y(\014)3350
+3494 y(\014)3350 3544 y(\014)3350 3594 y(\014)3350 3644
+y(\014)3350 3694 y(\014)3409 3592 y Fq(is)g(the)i(v)m(ector)0
+3815 y(cross)f(pro)s(duct.)40 b(In)30 b(matrix)f(form)h(this)g(is)1011
+3922 y Fi(2)1011 4068 y(6)1011 4118 y(6)1011 4168 y(6)1011
+4221 y(4)1125 3996 y Fq(_)-42 b Fo(q)1149 4011 y Fh(b)p
+Fk(1)1125 4109 y Fq(_)g Fo(q)1149 4124 y Fh(b)p Fk(2)1125
+4222 y Fq(_)g Fo(q)1149 4237 y Fh(b)p Fk(3)1125 4335
+y Fq(_)g Fo(q)1149 4350 y Fh(b)p Fk(4)1260 3922 y Fi(3)1260
+4068 y(7)1260 4118 y(7)1260 4168 y(7)1260 4221 y(5)1340
+4166 y Fq(=)1446 4104 y Fo(!)p 1446 4145 V 1453 4228
+a Fq(2)1531 3922 y Fi(2)1531 4068 y(6)1531 4118 y(6)1531
+4168 y(6)1531 4221 y(4)1688 3996 y Fq(0)180 b Fo(!)1970
+4010 y Fk(3)2127 3996 y Fl(\000)p Fo(!)2255 4010 y Fk(2)2377
+3996 y Fo(!)2434 4010 y Fk(1)1628 4109 y Fl(\000)p Fo(!)1756
+4123 y Fk(3)1938 4109 y Fq(0)g Fo(!)2220 4123 y Fk(1)2377
+4109 y Fo(!)2434 4123 y Fk(2)1663 4222 y Fo(!)1720 4236
+y Fk(2)1878 4222 y Fl(\000)p Fo(!)2006 4236 y Fk(1)2188
+4222 y Fq(0)144 b Fo(!)2434 4236 y Fk(3)1628 4335 y Fl(\000)p
+Fo(!)1756 4349 y Fk(1)1878 4335 y Fl(\000)p Fo(!)2006
+4349 y Fk(2)2127 4335 y Fl(\000)p Fo(!)2255 4349 y Fk(3)2402
+4335 y Fq(0)2515 3922 y Fi(3)2515 4068 y(7)2515 4118
+y(7)2515 4168 y(7)2515 4221 y(5)2585 3922 y(2)2585 4068
+y(6)2585 4118 y(6)2585 4168 y(6)2585 4221 y(4)2682 3996
+y Fo(q)2723 4011 y Fh(b)p Fk(1)2682 4109 y Fo(q)2723
+4124 y Fh(b)p Fk(2)2682 4222 y Fo(q)2723 4237 y Fh(b)p
+Fk(3)2682 4335 y Fo(q)2723 4350 y Fh(b)p Fk(4)2834 3922
+y Fi(3)2834 4068 y(7)2834 4118 y(7)2834 4168 y(7)2834
+4221 y(5)0 4522 y Fq(Notice)31 b(that)g(the)g(4)21 b
+Fl(\002)e Fq(4)31 b(matrix)f(is)f(sk)m(ew)i(symmetric)f(\(hence)h(its)e
+(matrix)h(exp)s(onen)m(tial)f(is)h(orthogonal\).)0 4806
+y Fp(References)0 5009 y Fq([Mul])127 b(Larry)30 b(Mullins.)37
+b(Course)30 b(4160:)43 b(Quaternions.)c(Course)30 b(notes.)0
+5192 y([R)-10 b(W91])47 b(M.)41 b(H.)g(Rheinfurth)d(and)h(H.)i(B.)g
+(Wilson.)70 b(Metho)s(ds)40 b(of)h(applied)d(dynamics.)69
+b(T)-8 b(ec)m(hnical)40 b(Rep)s(ort)337 5305 y(NASA)30
+b(RP-1262,)j(NASA,)e(George)h(C.)e(Marshall)f(Space)h(Fligh)m(t)g(Cen)m
+(ter,)h(1991.)p eop
+14 13 bop 0 527 a Fp(Index)0 709 y Fq(conjugate)166 821
+y(quaternion,)30 b(3)0 1017 y(Euler)f(angles)166 1130
+y(quaternions,)g(6)0 1326 y(Octa)m(v)m(e)166 1439 y Fj(qinv)p
+Fq(,)h(3)166 1552 y Fj(qmult)p Fq(,)f(3)166 1665 y Fj(qtrans)p
+Fq(,)g(4)166 1778 y(qtransv,)h(8)166 1891 y(qtransvmat,)h(8)166
+2004 y Fj(quaternion)p Fq(,)d(2)0 2200 y(quaternions)166
+2313 y(as)j(co)s(ordinate)f(rotations,)h(3)166 2425 y(co)s(ordinate)f
+(transformation,)g(4)166 2538 y(co)s(ordinate)g(transformation)g
+(matrices,)h(6)166 2651 y(cross)g(pro)s(ducts,)e(2)166
+2764 y(de\014nition,)f(2)166 2877 y(deriv)-5 b(ativ)m(es,)30
+b(12)166 2990 y(Euler)f(angles,)h(6)166 3103 y(m)m(ultiplication,)e(2)
+166 3216 y(unit)h(quaternions,)g(3)1905 5656 y(14)p eop
+end
+userdict /end-hook known{end-hook}if