quatinv

Calculate inverse of quaternion

Syntax

n = quatinv(q)

Description

n = quatinv(q) calculates the inverse, 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 inverses. 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 inverse has the form of

q1=q0iq1jq2kq3q02+q12+q22+q32

Examples

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

qinv = quatinv([1 0 1 0])


qinv =

    0.5000         0   -0.5000         0

References

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

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