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annotate scripts/quaternion/qtransvmat.m @ 3224:1e7532b9173b

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[project @ 1998-12-04 22:08:23 by jwe]
author jwe
date Fri, 04 Dec 1998 22:08:23 +0000
parents
children a892190f4977
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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3224
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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1 function Aib = qtransvmat(qib)
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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2 # function Aib = qtransvmat(qib)
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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3 # construct 3x3 transformation matrix from quaternion qib
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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4 # Aib is equivalent to rotation of th radians about axis vv, where
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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5 # [vv,th] = quaternion(qib)
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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6
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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7 if(!is_vector(qib) | length(qib) != 4)
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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8 error(sprintf("qtransvmat: q(%d,%d) must be a quaternion",rows(qib),columns(qib)))
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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9 elseif(max(abs(imag(qib))) != 0)
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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10 qib
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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11 error("qtransvmat: input values must be real.");
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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12 endif
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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13
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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14 Aib = [ (2.*(qib(1)^2 + qib(4)^2) -1.), ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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15 (2.*(qib(1)*qib(2)-qib(3)*qib(4))), ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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16 (2.*(qib(1)*qib(3)+qib(2)*qib(4))); ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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17 (2.*(qib(1)*qib(2)+qib(3)*qib(4))), ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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18 (2.*(qib(2)*qib(2)+qib(4)*qib(4))-1.), ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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19 (2.*(qib(2)*qib(3)-qib(1)*qib(4))); ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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20 (2.*(qib(1)*qib(3)-qib(2)*qib(4))), ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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21 (2.*(qib(2)*qib(3)+qib(1)*qib(4))), ...
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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22 (2.*(qib(3)*qib(3)+qib(4)*qib(4))-1.)];
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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23 endfunction
1e7532b9173b [project @ 1998-12-04 22:08:23 by jwe]
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24