Line | |
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1 | function c = cross(a, b) |
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2 | % CROSS (vector) product of two pure quaternions. |
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3 | |
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4 | % Copyright © 2005 Stephen J. Sangwine and Nicolas Le Bihan. |
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5 | % See the file : Copyright.m for further details. |
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6 | |
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7 | if ~isa(a, 'quaternion') | ~isa(b, 'quaternion') |
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8 | error('Cross product is not defined for a quaternion and a non-quaternion.') |
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9 | end |
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10 | |
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11 | if ~ispure(a) | ~ispure(b) |
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12 | error('Cross product is defined only for pure quaternions.') |
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13 | end |
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14 | |
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15 | c = quaternion(y(a) .* z(b) - z(a) .* y(b), ... |
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16 | z(a) .* x(b) - x(a) .* z(b), ... |
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17 | x(a) .* y(b) - y(a) .* x(b)); |
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