Calculate product of two quaternions
The quaternions have the form of
The quaternion product has the form of
|Quaternion or vector||Contains quaternions in the form of [q0, p0, ..., q1, p1, ... , q2, p2, ... , q3, p3, ...].|
|Quaternion or vector||Contains quaternions in the form of [s0, r0, ..., s1, r1, ... , s2, r2, ... , s3, r3, ...].|
|Quaternion product or vector||Contains quaternion product or vector of quaternion products.|
Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.