Aerospace Toolbox

quatmultiply - Calculate product of two quaternions

Syntax

n = quatmultiply(q,r)

Description

n = quatmultiply(q,r) calculates the quaternion product, n, for two given quaternions, q and r. Inputs q and r can each be either an m-by-4 matrix containing m quaternions, or a single 1-by-4 quaternion. n returns an m-by-4 matrix of quaternion products. Each element of q and r must be a real number. Additionally, q and r have their scalar number as the first column.

Note   Quaternion multiplication is not commutative.

Examples

Determine the product of two 1-by-4 quaternions:

q = [1 0 1 0];
r = [1 0.5 0.5 0.75];
mult = quatmultiply(q, r)


mult =

    0.5000    1.2500    1.5000    0.2500

Determine the product of a 1-by-4 quaternion with itself:

q = [1 0 1 0];
mult = quatmultiply(q)


mult =

     0     0     2     0

Determine the product of 1-by-4 and 2-by-4 quaternions:

q = [1 0 1 0];
r = [1 0.5 0.5 0.75; 2 1 0.1 0.1];
mult = quatmultiply(q, r)


mult =

    0.5000    1.2500    1.5000    0.2500
    1.9000    1.1000    2.1000   -0.9000

See Also

quatconj, quatdivide, quatinv, quatmod, quatnorm, quatnormalize, quatrotate

quatmod

quatnorm