X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?a=blobdiff_plain;ds=sidebyside;f=octave_packages%2Fquaternion-2.0.0%2F%40quaternion%2Fmtimes.m;fp=octave_packages%2Fquaternion-2.0.0%2F%40quaternion%2Fmtimes.m;h=8252f08a0d735dab899574438c156b94e3bb5301;hb=c880e8788dfc484bf23ce13fa2787f2c6bca4863;hp=0000000000000000000000000000000000000000;hpb=1705066eceaaea976f010f669ce8e972f3734b05;p=CreaPhase.git
diff --git a/octave_packages/quaternion-2.0.0/@quaternion/mtimes.m b/octave_packages/quaternion-2.0.0/@quaternion/mtimes.m
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index 0000000..8252f08
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+++ b/octave_packages/quaternion-2.0.0/@quaternion/mtimes.m
@@ -0,0 +1,43 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see .
+
+## -*- texinfo -*-
+## Matrix multiplication of two quaternions. Used by Octave for "q1 * q2".
+
+## Author: Lukas Reichlin
+## Created: May 2010
+## Version: 0.1
+
+function a = mtimes (a, b)
+
+ if (! isa (a, "quaternion"))
+ a = quaternion (a);
+ endif
+
+ if (! isa (b, "quaternion"))
+ b = quaternion (b);
+ endif
+
+ w = a.w*b.w - a.x*b.x - a.y*b.y - a.z*b.z;
+ x = a.y*b.z - a.z*b.y + a.w*b.x + a.x*b.w;
+ y = a.z*b.x - a.x*b.z + a.w*b.y + a.y*b.w;
+ z = a.x*b.y - a.y*b.x + a.w*b.z + a.z*b.w;
+
+ a.w = w;
+ a.x = x;
+ a.y = y;
+ a.z = z;
+
+endfunction