quaternion.m

这是支持在MATLAB中进行四元数（哈密顿数）的工具箱

function q = quaternion(a0, a1, a2, a3)
% QUATERNION   Construct quaternions from components.
% Accepts the following possible arguments, which may be scalars, vectors or matrices:
%
% No argument               - returns an empty quaternion scalar, vector or matrix.
% A quaternion argument     - returns the argument unmodified.
% A non-quaternion argument - returns the argument in the scalar part and supplies
%                             a zero vector part.
% Two arguments             - returns a quaternion, provided the first argument
%                             is numeric and the second is a pure quaternion.
% Three arguments           - returns a pure quaternion scalar, vector or matrix,
%                             with an empty scalar part.
% Four arguments            - returns a full quaternion scalar, vector or matrix.

% Copyright