function

LieGroups.SO3.Quat.product

Hamilton quaternion product q * p

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`q`	`Real`	`[4]`	Left quaternion {w,x,y,z}
input	`p`	`Real`	`[4]`	Right quaternion {w,x,y,z}
output	`r`	`Real`	`[4]`	Result quaternion {w,x,y,z}

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function product "Hamilton quaternion product q * p"
  input Real q[4] "Left quaternion {w,x,y,z}";
  input Real p[4] "Right quaternion {w,x,y,z}";
  output Real r[4] "Result quaternion {w,x,y,z}";
algorithm
  r[1] := q[1]*p[1] - q[2]*p[2] - q[3]*p[3] - q[4]*p[4];
  r[2] := q[2]*p[1] + q[1]*p[2] - q[4]*p[3] + q[3]*p[4];
  r[3] := q[3]*p[1] + q[4]*p[2] + q[1]*p[3] - q[2]*p[4];
  r[4] := q[4]*p[1] - q[3]*p[2] + q[2]*p[3] + q[1]*p[4];
end product;