【源码】简单四元数和三维旋转函数库

这个简单的函数库使用四元数和R^4之间的同构在Matlab中实现四元数代数仿真。

This simple library implements the quaternion algebra in Matlab using the isomorphism between quaternions and R^4. 

还实现了欧拉角、罗德里格斯公式和四元数版本的多种组合的旋转矩阵。

It also implements the rotation matrices for many combinations of Euler angles and the Rodrigues' Formula and the quaternion version. 

该函数库还包含３D可视化工具。

This library also contains a 3D Visualization tool.

主要函数概括如下：

Summarized description functions: 

The sum and subtraction is normally performed by Matlab as R^4 vectors. 

conjugate 

division on the left 

division on the right 

exponential 

inverse 

absolute value 

plot of coordinates in 3D 

product 

product with dot and cross commands 

matrix isomorphism 1 

matrix isomorphism 2 

rotation 

to string 

Rx 

Ry 

Rz 

Rxyz -- and others combinations of Euler Angles. 

Time derivative of Rxyz 

Rot Rodrigues

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