📄 quatrot.m
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function qr = quatrot(w);
% QUATROT - returns the quaternion representing the rotation given by
% the 3D vector w (rotation of ||w|| around the direction given by w)
%
% qr = quatrot(w);
%
% ON - 3/99
%
th = norm(w);
qr = [cos(th/2) sin(th/2)*w(:)'/th];
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