1 function ab = QuatProd(a, b)
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4 % Copyright (c) 2014 Samsung Electronics Co., Ltd.
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6 % Licensed under the Apache License, Version 2.0 (the "License");
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7 % you may not use this file except in compliance with the License.
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8 % You may obtain a copy of the License at
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10 % http://www.apache.org/licenses/LICENSE-2.0
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12 % Unless required by applicable law or agreed to in writing, software
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13 % distributed under the License is distributed on an "AS IS" BASIS,
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14 % WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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15 % See the License for the specific language governing permissions and
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16 % limitations under the License.
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18 % Calculates the quaternion product of quaternion a and b.
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20 ab(:,1) = a(:,1).*b(:,1)-a(:,2).*b(:,2)-a(:,3).*b(:,3)-a(:,4).*b(:,4);
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21 ab(:,2) = a(:,1).*b(:,2)+a(:,2).*b(:,1)+a(:,3).*b(:,4)-a(:,4).*b(:,3);
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22 ab(:,3) = a(:,1).*b(:,3)-a(:,2).*b(:,4)+a(:,3).*b(:,1)+a(:,4).*b(:,2);
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23 ab(:,4) = a(:,1).*b(:,4)+a(:,2).*b(:,3)-a(:,3).*b(:,2)+a(:,4).*b(:,1);
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