www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@quaternion\mpower.m
%MPOWER Raise quaternion to integer power % % Compound the quaternion with itself. Invoked by means of the caret % operator. % 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 qp = mpower(q, p) % check that exponent is an integer if (p - floor(p)) ~= 0, error('quaternion exponent must be integer'); end qp = q; % multiply by itself so many times for i = 2:abs(p), qp = qp * q; end % if exponent was negative, invert it if p<0, qp = inv(qp); end