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