Last change
on this file since 177 was
37,
checked in by (none), 15 years ago
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Added original make3d
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Property svn:executable set to
*
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File size:
396 bytes
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1 | function qout = vgg_quat_mul(r,q)
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2 | % VGG_QUAT_MUL Quaternion multiplication
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3 | % pq = vgg_quat_mul(p,q)
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4 |
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5 | % awf@robots.ox.ac.uk, 30/01/05
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6 |
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7 | qout = ...
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8 | [(r(1)*q(1) - r(2)*q(2) - r(3)*q(3) - r(4)*q(4))
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9 | (r(1)*q(2) + r(2)*q(1) + r(3)*q(4) - r(4)*q(3))
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10 | (q(3)*r(1) - q(4)*r(2) + q(1)*r(3) + q(2)*r(4))
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11 | (q(4)*r(1) + q(3)*r(2) - q(2)*r(3) + q(1)*r(4)) ];
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