www.gusucode.com > robot-9 源码程序matlab代码 > robot-9.4Toolbox/rvctools/robot/Octave/@Quaternion/double.m

    % Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
% 
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com
function v = double(q)
%Quaternion.double Convert a quaternion object to a 4-element vector
%
% V = Q.double() is a 4-vector comprising the quaternion
% elements [s vx vy vz].

    v = [q.s q.v];
endfunction