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