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42 lines
1.3 KiB
42 lines
1.3 KiB
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function qp = mpower(q, p)
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%Quaternion.mpower Raise quaternion to integer power
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%
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% Q^N is quaternion Q raised to the integer power N, and computed by repeated multiplication.
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% check that exponent is an integer
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if (p - floor(p)) ~= 0
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error('quaternion exponent must be integer');
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end
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qp = q;
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% multiply by itself so many times
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for i = 2:abs(p)
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qp = qp * q;
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end
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% if exponent was negative, invert it
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if p<0
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qp = inv(qp);
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end
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end
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