Calculate inverse of quaternion
n = quatinv(q)
n = quatinv(q) calculates
n, for a given quaternion,
q is an
m-by-4 matrix of inverses. Each element of
be a real number. Additionally,
q has its scalar
number as the first column.
The quaternion has the form of
The quaternion inverse has the form of
Determine the inverse of
q = [1 0 1 0]:
qinv = quatinv([1 0 1 0]) qinv = 0.5000 0 -0.5000 0
 Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.