quatconj

Calculate conjugate of quaternion

Syntax

n = quatconj(q)

Description

n = quatconj(q) calculates the conjugate, n, for a given quaternion, q. Input q is an m-by-4 matrix containing m quaternions. n returns an m-by-4 matrix of conjugates. Each element of q must be a real number. Additionally, q has its scalar number as the first column.

The quaternion has the form of

q=q0+iq1+jq2+kq3

The quaternion conjugate has the form of

q=q0iq1jq2kq3

Examples

Determine the conjugate of q = [1 0 1 0]:

conj = quatconj([1 0 1 0])


conj =

     1     0    -1     0

References

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

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