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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of mpower</title> <meta name="keywords" content="mpower"> <meta name="description" content="MPOWER Raise quaternion to integer power"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="../m2html.css"></head><body><a name="_top"></a><div><a href="../index.html">Home</a> > <a href="#">@quaternion</a> > mpower.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png"> Master index</a></td><td align="right"><a href="index.html">Index for ./@quaternion <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>mpower</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>MPOWER Raise quaternion to integer power</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>function qp = mpower(q, p) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre class="comment">MPOWER Raise quaternion to integer power Compound the quaternion with itself. Invoked by means of the caret operator.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>This function calls:<ul style="list-style-image:url(../matlabicon.gif)"><li><a href="inv.html" class="code" title="function qi = inv(q)">inv</a> INV Invert a unit-quaternion</li></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%MPOWER Raise quaternion to integer power</span>0002 <span class="comment">%</span>0003 <span class="comment">% Compound the quaternion with itself. Invoked by means of the caret</span>0004 <span class="comment">% operator.</span>0005 0006 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0007 <span class="comment">%</span>0008 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0009 <span class="comment">%</span>0010 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0011 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0012 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0013 <span class="comment">% (at your option) any later version.</span>0014 <span class="comment">%</span>0015 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0016 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0017 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0018 <span class="comment">% GNU Lesser General Public License for more details.</span>0019 <span class="comment">%</span>0020 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0021 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0022 0023 <a name="_sub0" href="#_subfunctions" class="code">function qp = mpower(q, p)</a>0024 0025 <span class="comment">% check that exponent is an integer</span>0026 <span class="keyword">if</span> (p - floor(p)) ~= 0,0027 error(<span class="string">'quaternion exponent must be integer'</span>);0028 <span class="keyword">end</span>0029 0030 qp = q;0031 0032 <span class="comment">% multiply by itself so many times</span>0033 <span class="keyword">for</span> i = 2:abs(p),0034 qp = qp * q;0035 <span class="keyword">end</span>0036 0037 <span class="comment">% if exponent was negative, invert it</span>0038 <span class="keyword">if</span> p<0,0039 qp = <a href="inv.html" class="code" title="function qi = inv(q)">inv</a>(qp);0040 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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