qvec2mat.m

This diskette (version 1.0) contains demonstration programs and source codes in MATLAB (v.5.2) for a

function quatmat = qvec2mat(quatvec)
%
% converts quaternion 4-vector to quaternion 4x4 matrix
%
quatmat = quatvec(1)*eye(4)+quatvec(2)*[0,-1,0,0;1,0,0,0;0,0,0,-1;0,0,1,0]+quatvec(3)*[0,0,-1,0;0,0,0,1;1,0,0,0;0,-1,0,0]+quatvec(4)*[0,0,0,-1;0,0,-1,0;0,1,0,0;1,0,0,0];