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quatconj

Calculate conjugate of quaternion

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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.

example

Examples

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Open Live Script

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

conj = quatconj([1 0 1 0])
conj = 1×4

     1     0    -1     0

Input Arguments

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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

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

Algorithms

The quaternion has the form of

q=q0+iq1+jq2+kq3.

The quaternion conjugate has the form of

q′=q0−iq1−jq2−kq3.

References

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

Extended Capabilities

Version History

Introduced in R2006b

See Also

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