quatinv

Calculate inverse of quaternion

Syntax

n = quatinv(q)

Description

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

Aerospace Toolboxuses quaternions that are defined using the scalar-first convention. For more information on quaternion forms, seeAlgorithms.

Examples

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Determine Inverse

Determine the inverse ofq = [1 0 1 0]:

qinv = quatinv([1 0 1 0])

qinv = 0.5000 0 -0.5000 0

Input Arguments

collapse all

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

Quaternion, specified as anm-by-4 matrix containingmquaternions.

Data Types:double

Output Arguments

collapse all

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

Inverse of quaternion, returned as anm-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.

Aerospace Toolbox Documentation

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quatinv

Syntax

Description

Examples

Determine Inverse

Input Arguments

q—Quaternionm-by-4 matrix|real number

Output Arguments

n— Inverse of quaternionm-by-4 matrix

Algorithms

References

Extended Capabilities

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

See Also

Aerospace Toolbox Documentation

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Try MATLAB, Simulink, and Other Products

`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™.