mirror of https://github.com/ArduPilot/ardupilot
5 lines
260 B
Mathematica
5 lines
260 B
Mathematica
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function quatOut = QuatMult(quatA,quatB)
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% Calculate the following quaternion product quatA * quatB using the
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% standard identity
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quatOut = [quatA(1)*quatB(1)-quatA(2:4)'*quatB(2:4); quatA(1)*quatB(2:4) + quatB(1)*quatA(2:4) + cross(quatA(2:4),quatB(2:4))];
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