quatconj

Calculate conjugate of quaternion

Syntax

n = quatconj(q)

Description

n = quatconj(q) calculates the conjugate n for a given quaternion, q. For more information on the quaternion and quaternion conjugate forms, see Algorithms.

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

Examples

Determine Conjugate

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

conj = quatconj([1 0 1 0])

conj = 1×4

     1     0    -1     0

Input Arguments

q — quaternion matrix

m-by-4 matrix of real numbers

Quaternion matrix, specified in an m-by-4 matrix of real numbers containing m quaternions.

Example: [1 0 1 0]

Data Types: double

Output Arguments

n — conjugate matrix

m-by-4 matrix

Conjugate matrix, returned in an m-by-4 matrix.

Algorithms

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

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

References

[1] Stevens, Brian L. and Frank L. Lewis. Aircraft Control and Simulation. 2nd ed. Wiley–Interscience, 2003.

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.

Version History

Introduced in R2006b