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mrdivide

PURPOSE ^

MRDIVIDE Compute quaternion quotient.

SYNOPSIS ^

function qq = mrdivide(q1, q2)

DESCRIPTION ^

MRDIVIDE Compute quaternion quotient.

 Invoked on the / operator, handle two cases:
 q1/q2      multiply one quaternion by inverse of the second.
 q1/s        result is non-unit quaternion, all elements divided by s

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %MRDIVIDE Compute quaternion quotient.
0002 %
0003 % Invoked on the / operator, handle two cases:
0004 % q1/q2      multiply one quaternion by inverse of the second.
0005 % q1/s        result is non-unit quaternion, all elements divided by s
0006 
0007 % Copyright (C) 1999-2008, by Peter I. Corke
0008 %
0009 % This file is part of The Robotics Toolbox for Matlab (RTB).
0010 %
0011 % RTB is free software: you can redistribute it and/or modify
0012 % it under the terms of the GNU Lesser General Public License as published by
0013 % the Free Software Foundation, either version 3 of the License, or
0014 % (at your option) any later version.
0015 %
0016 % RTB is distributed in the hope that it will be useful,
0017 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0018 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0019 % GNU Lesser General Public License for more details.
0020 %
0021 % You should have received a copy of the GNU Leser General Public License
0022 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0023 
0024 function qq = mrdivide(q1, q2)
0025 
0026     if isa(q2, 'quaternion'),
0027         % qq = q1 / q2
0028         %    = q1 * qinv(q2)
0029 
0030         qq = q1 * inv(q2);
0031     elseif isa(q2, 'double'),
0032         qq = quaternion( double(q1) / q2 );
0033     end

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