www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@quaternion\inv.m
%INV Invert a unit-quaternion % % QI = inv(Q) % % Return the inverse of the unit-quaternion Q. % % Copyright (C) 1999-2008, 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/>. function qi = inv(q) qi = quaternion([q.s -q.v]);