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minus

PURPOSE ^

MINUS Subtract two quaternion objects

SYNOPSIS ^

function qp = plus(q1, q2)

DESCRIPTION ^

MINUS Subtract two quaternion objects

 Invoked by the - operator

 q1-q2    standard quaternion subtraction

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %MINUS Subtract two quaternion objects
0002 %
0003 % Invoked by the - operator
0004 %
0005 % q1-q2    standard quaternion subtraction
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 qp = plus(q1, q2)
0025 
0026     if isa(q1, 'quaternion') & isa(q2, 'quaternion')
0027 
0028         qp = quaternion(double(q1) - double(q2));
0029     end

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