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1 | function c = mcross(a, b) |
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2 | % Matrix cross (vector) product of two pure quaternions. Like cross but matrix |
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3 | % not elementwise. |
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4 | |
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5 | % Copyright © 2005 Stephen J. Sangwine and Nicolas Le Bihan. |
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6 | % See the file : Copyright.m for further details. |
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7 | |
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8 | error(nargchk(2, 2, nargin)), error(nargoutchk(0, 1, nargout)) |
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9 | |
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10 | if ~isa(a, 'quaternion') | ~isa(b, 'quaternion') |
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11 | error('Matrix cross product is not defined for a quaternion and a non-quaternion.') |
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12 | end |
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13 | |
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14 | if ~ispure(a) | ~ispure(b) |
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15 | error('Mcross product is defined only for pure quaternions.') |
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16 | end |
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17 | |
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18 | c = quaternion(y(a) * z(b) - z(a) * y(b), ... |
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19 | z(a) * x(b) - x(a) * z(b), ... |
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20 | x(a) * y(b) - y(a) * x(b)); |
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