% Quaternion Simulink Library% Version 1.4 (JASP) 20-Jan-2002% ========================================================================% Copyright, 2000-02 Jay A. St. Pierre (Jay.St.Pierre at Colorado.EDU)% This Library comes with ABSOLUTELY NO WARRANTY.  This is free software,% and you are welcome to redistribute it under certain conditions.  See% the file COPYING that came with the software for more details.% ========================================================================%% This is a library of blocks that allows manipulation of quaternions.%% The available blocks are:%%   Quaternion Normalize%   Quaternion Conjugate%   Quaternion Multiply%%   Quaternion Propagation%   Quaternion Vector Transform%   Quaternion Vector Rotation%%   Quaternion Decomposition%   Quaternion to DCM%   DCM to Quaternion%% For purposes of this library, a quaternion, q, is just a four element% vector where q(1:3) is the "imaginary" or "vector" portion of the% hypercomplex number, and q(4) is the "real" or "scalar" portion.% Consequently, if q represents a rotation, then:%%   q(1) = v1*sin(phi/2)%   q(2) = v2*sin(phi/2)%   q(3) = v3*sin(phi/2)%   q(4) =    cos(phi/2)%% where phi is the amount of rotation about the unit vector [v1 v2 v3].%% See also QUATERNIONS, the quaternion manipulation toolbox for the% MATLAB command line.  RM2MAT and MAT2RM are also useful for handling% row-major form matrices, and can be found in the Matrix Simulink% Library and Utilites package.% Package: $Name: qlib-1_4 $% File: $Revision: 1.11 $% $Date: 2002/01/22 22:35:26 $% Quaternion Library for Simulink (versions 3.x and greater)% Copyright (C) 2000-02, Jay A. St. Pierre.%% This package is free software; you can redistribute it and/or modify% it under the terms of the GNU General Public License as published by% the Free Software Foundation; either version 2 of the License, or% (at your option) any later version.%% This program 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 General Public License for more details.%% You should have received a copy of the GNU General Public License% along with this program; if not, write to the Free Software% Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA% To contact the author:%% E-mail:     Jay.St.Pierre at Colorado.EDU%% Snail Mail: 3178 Cripple Creek Trail%             Boulder, CO  80305