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function quatOut = QuatMult(quatA,quatB) |
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% Calculate the following quaternion product quatA * quatB using the |
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% standard identity |
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quatOut = [quatA(1)*quatB(1)-quatA(2:4)'*quatB(2:4); quatA(1)*quatB(2:4) + quatB(1)*quatA(2:4) + cross(quatA(2:4),quatB(2:4))]; |
