fourtime.m

基于四元数的机构综合建立模型的MATLAB程序

function g =fourTime(p, q)
% circle times
g=[p(1)*q(1)-p(2)*q(2)-p(3)*q(3)-p(4)*q(4);...
    p(1)*q(2)+p(2)*q(1)+p(3)*q(4)-p(4)*q(3);...
    p(1)*q(3)+p(3)*q(1)+p(4)*q(2)-p(2)*q(4);...
    p(1)*q(4)+p(4)*q(1)+p(2)*q(3)-p(3)*q(2)];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%5.