inv.m

这是支持在MATLAB中进行四元数（哈密顿数）的工具箱

function R = inv(a)
% INV   Inverse of a quaternion (matrix).
% (Quaternion overloading of standard Matlab function.)
%
% For a single quaternion, this function computes the inverse,
% that is the conjugate divided by the modulus. The result will
% be a NaN if the quaternion has zero modulus. For matrices it
% computes the matrix inverse using an analytical formula based
% on partitioning the matrix into sub-matrices. A better method
% may be substituted in the future.

% Copyright