quatinv

Calculate inverse of quaternion

Syntax

n = quatinv(q)

Description

n = quatinv(q) calculates the inverse, n, for a given quaternion, q.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention. For more information on quaternion forms, see Algorithms.

Examples

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Determine Inverse of Quaternion

Open Live Script

Calculate the inverse of a quaternion q.

qinv = quatinv([1 0 1 0])

qinv = 1×4

    0.5000         0   -0.5000         0

Input Arguments

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`q` — Quaternion
m-by-4 matrix | real number

Quaternion, specified as an m-by-4 matrix containing m quaternions.

Data Types: double

Output Arguments

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`n` — Inverse of quaternion
m-by-4 matrix

Inverse of quaternion, returned as 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 inverse has the form of

$q^{- 1} = \frac{q_{0} - i q_{1} - j q_{2} - k q_{3}}{q_{0}^{2} + q_{1}^{2} + q_{2}^{2} + q_{3}^{2}} .$

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.

Version History

Introduced in R2006b

quatinv

Syntax

Description

Examples

Determine Inverse of Quaternion

Input Arguments

q — Quaternion m-by-4 matrix | real number

Output Arguments

n — Inverse of quaternion m-by-4 matrix

Algorithms

References

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™.

Version History

See Also

`q` — Quaternion
m-by-4 matrix | real number

`n` — Inverse of quaternion
m-by-4 matrix

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.