--- /dev/null
+## Copyright (C) 2011 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 <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{qexp} =} exp (@var{q})
+## Exponential of a quaternion.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
+## Created: November 2011
+## Version: 0.1
+
+function q = exp (q)
+
+ if (nargin != 1)
+ print_usage ();
+ endif
+
+ normv = normv (q);
+ exps = exp (q.w);
+ sinv = sin (normv);
+
+ q.w = exps .* cos (normv);
+ q.x = exps .* (q.x ./ normv) .* sinv;
+ q.y = exps .* (q.y ./ normv) .* sinv;
+ q.z = exps .* (q.z ./ normv) .* sinv;
+
+endfunction