1%% Copyright (c) 2011 Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
2%%
3%%    This program is free software: you can redistribute it and/or modify
4%%    it under the terms of the GNU General Public License as published by
5%%    the Free Software Foundation, either version 3 of the License, or
6%%    any later version.
7%%
8%%    This program is distributed in the hope that it will be useful,
9%%    but WITHOUT ANY WARRANTY; without even the implied warranty of
10%%    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
11%%    GNU General Public License for more details.
12%%
13%%    You should have received a copy of the GNU General Public License
14%%    along with this program. If not, see <http://www.gnu.org/licenses/>.
15
16%% -*- texinfo -*-
17%% @deftypefn {Function File} {@var{R} = } quat2mat (@var{q})
18%% This function is implemented in the quaternion package and will be deprecated.
19%% @end deftypefn
20
21function R = quat2mat (q)
22
23R = [ q(1)^2+q(2)^2-q(3)^2-q(4)^2  2*(q(2)*q(3)-q(1)*q(4))  2*(q(2)*q(4) + q(1)*q(3)); ...
24      2*(q(2)*q(3)+q(1)*q(4))   q(1)^2-q(2)^2+q(3)^2-q(4)^2  2*(q(3)*q(4) - q(1)*q(2)); ...
25      2*(q(2)*q(4)-q(1)*q(3))   2*(q(3)*q(4)+q(1)*q(2))  q(1)^2-q(2)^2-q(3)^2+q(4)^2 ];
26
27endfunction
28