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annotate scripts/quaternion/qtransvmat.m @ 7016:93c65f2a5668

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[project @ 2007-10-12 06:40:56 by jwe]
author jwe
date Fri, 12 Oct 2007 06:41:26 +0000
parents 4c8a2e4e0717
children a1dbe9d80eee
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1 ## Copyright (C) 1998 Auburn University. All rights reserved.
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2 ##
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3 ## This file is part of Octave.
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4 ##
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5 ## Octave is free software; you can redistribute it and/or modify it
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6 ## under the terms of the GNU General Public License as published by
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7 ## the Free Software Foundation; either version 3 of the License, or (at
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8 ## your option) any later version.
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9 ##
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10 ## Octave is distributed in the hope that it will be useful, but
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11 ## WITHOUT ANY WARRANTY; without even the implied warranty of
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12 ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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13 ## General Public License for more details.
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14 ##
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15 ## You should have received a copy of the GNU General Public License
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16 ## along with Octave; see the file COPYING. If not, see
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17 ## <http://www.gnu.org/licenses/>.
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18
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19 ## -*- texinfo -*-
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20 ## @deftypefn {Function File} {} qtransvmat (@var{qib})
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21 ## Construct a 3x3 transformation matrix from quaternion @var{qib} that
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22 ## is equivalent to rotation of th radians about axis @var{vv}, where
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23 ## @code{[@var{vv}, @var{th}] = quaternion (@var{qib})}.
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24 ## @end deftypefn
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25
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26 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
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27 ## Adapted-By: jwe
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28
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29 function Aib = qtransvmat (qib)
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30
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31 if (! isvector(qib) || length (qib) != 4)
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32 error ("qtransvmat: q(%d,%d) must be a quaternion", rows (qib), \
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33 columns (qib));
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34 elseif (max (abs (imag (qib))) != 0)
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35 error ("qtransvmat: input values must be real");
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36 endif
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37
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38
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39 Aib = [(2.*(qib(1)^2 + qib(4)^2) -1.), ...
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40 (2.*(qib(1)*qib(2)-qib(3)*qib(4))), ...
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41 (2.*(qib(1)*qib(3)+qib(2)*qib(4)));
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42 (2.*(qib(1)*qib(2)+qib(3)*qib(4))), ...
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43 (2.*(qib(2)*qib(2)+qib(4)*qib(4))-1.), ...
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44 (2.*(qib(2)*qib(3)-qib(1)*qib(4)));
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45 (2.*(qib(1)*qib(3)-qib(2)*qib(4))), ...
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46 (2.*(qib(2)*qib(3)+qib(1)*qib(4))), ...
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47 (2.*(qib(3)*qib(3)+qib(4)*qib(4))-1.)];
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48
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49 endfunction