contents.m

四元数工具箱

% Quaternion Simulink Library
% Version 1.4 (JASP) 20-Jan-2002
% ========================================================================
% Copyright, 2000-02 Jay A. St. Pierre (Jay.St.Pierre at Colorado.EDU)
% This Library comes with ABSOLUTELY NO WARRANTY.  This is free software,
% and you are welcome to redistribute it under certain conditions.  See
% the file COPYING that came with the software for more details.
% ========================================================================
%
% This is a library of blocks that allows manipulation of quaternions.
%
% The available blocks are:
%
%   Quaternion Normalize
%   Quaternion Conjugate
%   Quaternion Multiply
%
%   Quaternion Propagation
%   Quaternion Vector Transform
%   Quaternion Vector Rotation
%
%   Quaternion Decomposition
%   Quaternion to DCM
%   DCM to Quaternion
%
% For purposes of this library, a quaternion, q, is just a four element
% vector where q(1:3) is the "imaginary" or "vector" portion of the
% hypercomplex number, and q(4) is the "real" or "scalar" portion.
% Consequently, if q represents a rotation, then:
%
%   q(1) = v1*sin(phi/2)
%   q(2) = v2*sin(phi/2)
%   q(3) = v3*sin(phi/2)
%   q(4) =    cos(phi/2)
%
% where phi is the amount of rotation about the unit vector [v1 v2 v3].
%
% See also QUATERNIONS, the quaternion manipulation toolbox for the
% MATLAB command line.  RM2MAT and MAT2RM are also useful for handling
% row-major form matrices, and can be found in the Matrix Simulink
% Library and Utilites package.


% Package: $Name: qlib-1_4 $
% File: $Revision: 1.11 $
% $Date: 2002/01/22 22:35:26 $


% Quaternion Library for Simulink (versions 3.x and greater)
% Copyright (C) 2000-02, Jay A. St. Pierre.
%
% This package is free software; you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 2 of the License, or
% (at your option) any later version.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program; if not, write to the Free Software
% Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


% To contact the author:
%
% E-mail:     Jay.St.Pierre at Colorado.EDU
%
% Snail Mail: 3178 Cripple Creek Trail
%             Boulder, CO  80305