Path: Common/Quaternion
% Transforms a vector in the direction of the quaternion. If the number of columns of q is 1 it will transform all of the vectors by that q. If it is greater than 1 it will transform each column of ua by the corresponding column of q. If the number of columns of q is > 1 and the number of columns of ua is 1 it will create one column of ub for every column of q. This routine takes 30 floating point operations. -------------------------------------------------------------------------- Form: ub = QForm( q, ua ) -------------------------------------------------------------------------- ------ Inputs ------ q (4,n or 1) Quaternion from a to b ua (3,n or 1) Vector in a ------- Outputs ------- ub (3,n) Vector in b -------------------------------------------------------------------------- See also QTForm. --------------------------------------------------------------------------
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