quatconj

Calculate conjugate of quaternion

Syntax

n = quatconj(q)


Description

n = quatconj(q) calculates the conjugate, n, for a given quaternion, q. Input q is an m-by-4 matrix containing m quaternions. n returns an m-by-4 matrix of conjugates. Each element of q must be a real number.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.

The quaternion has the form of

$$q=q_0+i{q}_1+j{q}_2+k{q}_3$$

The quaternion conjugate has the form of

$$q^{\prime }=q_0-i{q}_1-j{q}_2-k{q}_3$$

Examples

Determine the conjugate of q = [1 0 1 0]:

conj = quatconj([1 0 1 0])


conj =

     1     0    -1     0

References

[1] Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

Code generation for this function requires the Aerospace Blockset™ software.