qprod.m

移动机器人同时定位与地图创建最前沿技术

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% SLAM Summer School 2006, Oxford.
% Practical 3. SLAM using Monocular Vision.
% Practical exercise.
% J.M.M. Montiel, Javier Civera, Andrew J. Davison.
% {josemari, jcivera}@unizar.es, [e-mail]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function qp=qprod(q,p)
a=q(1);
v=reshape(q(2:4),3,1);
x=p(1);
u=reshape(p(2:4),3,1);

qp = [a*x-v'*u, (a*u+x*v)' + cross(v,u)'];