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74 lines
2.4 KiB
74 lines
2.4 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 = mtimes(q1, q2)
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%Quaternion.mtimes Multiply a quaternion object
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%
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% Q1*Q2 is a quaternion formed by Hamilton product of two quaternions.
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% Q*V is the vector V rotated by the quaternion Q
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% Q*S is the element-wise multiplication of quaternion elements by by the scalar S
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if isa(q1, 'Quaternion') & isa(q2, 'Quaternion')
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%QQMUL Multiply unit-quaternion by unit-quaternion
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%
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% QQ = qqmul(Q1, Q2)
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%
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% Return a product of unit-quaternions.
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%
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% See also: TR2Q
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% decompose into scalar and vector components
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s1 = q1.s; v1 = q1.v;
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s2 = q2.s; v2 = q2.v;
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% form the product
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qp = Quaternion([s1*s2-v1*v2' s1*v2+s2*v1+cross(v1,v2)]);
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elseif isa(q1, 'Quaternion') & isa(q2, 'double')
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%QVMUL Multiply vector by unit-quaternion
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%
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% VT = qvmul(Q, V)
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%
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% Rotate the vector V by the unit-quaternion Q.
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%
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% See also: QQMUL, QINV
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if length(q2) == 3
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qp = q1 * Quaternion([0 q2(:)']) * inv(q1);
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qp = qp.v(:);
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elseif length(q2) == 1
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qp = Quaternion(double(q1)*q2);
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else
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error('quaternion-vector product: must be a 3-vector or scalar');
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end
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elseif isa(q2, 'Quaternion') & isa(q1, 'double')
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if length(q1) == 3
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qp = q2 * Quaternion([0 q1(:)']) * inv(q2);
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qp = qp.v;
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elseif length(q1) == 1
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qp = Quaternion(double(q2)*q1);
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else
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error('quaternion-vector product: must be a 3-vector or scalar');
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end
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end
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end
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