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Quaternion Multiplication

Calculate product of two quaternions

Library

Utilities/Math Operations

Description

The Quaternion Multiplication block calculates the product for two given quaternions.

The quaternions have the form of

q=q0+iq1+jq2+kq3

and

r=r0+ir1+jr2+kr3.

The quaternion product has the form of

t=q×r=t0+it1+jt2+kt3,

where

t0=(r0q0r1q1r2q2r3q3)t1=(r0q1+r1q0r2q3+r3q2)t2=(r0q2+r1q3+r2q0r3q1)t3=(r0q3r1q2+r2q1+r3q0)

Inputs and Outputs

InputDimension TypeDescription

First

Quaternion or vectorContains quaternions in the form of [q0, p0, ..., q1, p1, ... , q2, p2, ... , q3, p3, ...].

Second

Quaternion or vectorContains quaternions in the form of [s0, r0, ..., s1, r1, ... , s2, r2, ... , s3, r3, ...].

OutputDimension TypeDescription

First

Quaternion product or vectorContains quaternion product or vector of quaternion products.

References

Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.

Introduced before R2006a

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