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[Octave-cvsupdate] SF.net SVN: octave:[9074] trunk/octave-forge/extra/quaternion_oo
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From: <par...@us...> - 2011-11-13 13:32:42
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Revision: 9074
http://octave.svn.sourceforge.net/octave/?rev=9074&view=rev
Author: paramaniac
Date: 2011-11-13 13:32:36 +0000 (Sun, 13 Nov 2011)
Log Message:
-----------
quaternion-oo: add unit method, various enhancements
Modified Paths:
--------------
trunk/octave-forge/extra/quaternion_oo/INDEX
trunk/octave-forge/extra/quaternion_oo/devel/demoml.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/abs.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/columns.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/inv.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/mpower.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/rows.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/size.m
Added Paths:
-----------
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/private/
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/private/norm2.m
trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/unit.m
Modified: trunk/octave-forge/extra/quaternion_oo/INDEX
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/INDEX 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/INDEX 2011-11-13 13:32:36 UTC (rev 9074)
@@ -8,6 +8,7 @@
@quaternion/rows
@quaternion/columns
@quaternion/size
+ @quaternion/unit
Overloaded and Arithmetic Operators
@quaternion/plus
@quaternion/minus
Modified: trunk/octave-forge/extra/quaternion_oo/devel/demoml.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/devel/demoml.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/devel/demoml.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,10 +1,10 @@
q = rot2q ([0, 0, 1], pi/4)
-% [vv, theta] = q2rot (q)
+[vv, theta] = q2rot (q)
x = quaternion (0, 1, 1, 0) % nicht normiert
% s x y z
rx = q * x * conj (q) % q x q^-1
-% [vv, theta] = q2rot (rx)
+[vv, theta] = q2rot (rx)
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/abs.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/abs.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/abs.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,4 +1,4 @@
-## Copyright (C) 2010 Lukas F. Reichlin
+## Copyright (C) 2010, 2011 Lukas F. Reichlin
##
## This program is free software: you can redistribute it and/or modify
## it under the terms of the GNU General Public License as published by
@@ -25,7 +25,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: August 2010
-## Version: 0.1
+## Version: 0.2
function b = abs (a)
@@ -34,6 +34,6 @@
print_usage ();
endif
- b = sqrt (a.w.^2 + a.x.^2 + a.y.^2 + a.z.^2);
+ b = sqrt (norm2 (a));
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/columns.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/columns.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/columns.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,3 +1,26 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Return number of columns of quaternion arrays.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: May 2010
+## Version: 0.1
+
+
function c = columns (a)
if (nargin != 1)
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/inv.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/inv.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/inv.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,4 +1,4 @@
-## Copyright (C) 2010 Lukas F. Reichlin
+## Copyright (C) 2010, 2011 Lukas F. Reichlin
##
## This program is free software: you can redistribute it and/or modify
## it under the terms of the GNU General Public License as published by
@@ -20,7 +20,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: May 2010
-## Version: 0.1
+## Version: 0.2
function a = inv (a)
@@ -35,7 +35,7 @@
## TODO: quaternion arrays
- norm2 = a.w*a.w + a.x*a.x + a.y*a.y + a.z*a.z;
+ norm2 = norm2 (a);
a.w = a.w / norm2;
a.x = -a.x / norm2;
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/mpower.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/mpower.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/mpower.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,3 +1,26 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## matrix power operator of quaternions. Used by Octave for "q^x".
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: May 2010
+## Version: 0.1
+
+
function a = mpower (a, b)
if (b == -1 && isa (a, "quaternion") && isscalar (a.w))
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,12 +1,38 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## power operator of quaternions. Used by Octave for "q.^x".
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: May 2010
+## Version: 0.1
+
+
function a = power (a, b)
- if (b == -1 && isa (a, "quaternion") && isscalar (a.w))
- a = inv (a);
+ if (b == -1 && isa (a, "quaternion"))
+ norm2 = norm2 (a);
+ a.w = a.w ./ norm2;
+ a.x = -a.x ./ norm2;
+ a.y = -a.y ./ norm2;
+ a.z = -a.z ./ norm2;
else
error ("quaternion: power: case not implemeted");
endif
- ## TODO: - q1 .^ q2
- ## - arrays
+ ## TODO: q1 .^ q2
endfunction
\ No newline at end of file
Added: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/private/norm2.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/private/norm2.m (rev 0)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/private/norm2.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -0,0 +1,30 @@
+## Copyright (C) 2011 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{norm2} =} norm2 (@var{q})
+## Return squared norm of a quaternion.
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: November 2011
+## Version: 0.1
+
+
+function ret = norm2 (a)
+
+ ret = a.w.^2 + a.x.^2 + a.y.^2 + a.z.^2;
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/rows.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/rows.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/rows.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,3 +1,26 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Return number of rows of quaternion arrays.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: May 2010
+## Version: 0.1
+
+
function r = rows (a)
if (nargin != 1)
Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/size.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/size.m 2011-11-13 12:40:38 UTC (rev 9073)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/size.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -1,3 +1,26 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Return size of quaternion arrays.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: May 2010
+## Version: 0.1
+
+
function [s, varargout] = size (a, b)
switch (nargout)
Added: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/unit.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/unit.m (rev 0)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/unit.m 2011-11-13 13:32:36 UTC (rev 9074)
@@ -0,0 +1,39 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This program 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 3 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, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{qabs} =} abs (@var{q})
+## Normalize quaternion to length 1 (unit quaternion).
+##
+## @example
+## q = w + x*i + y*j + z*k
+## unit (q) = q ./ sqrt (w.^2 + x.^2 + y.^2 + z.^2)
+## @end example
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: August 2010
+## Version: 0.1
+
+
+function q = unit (a)
+
+ if (nargin != 1)
+ print_usage ();
+ endif
+
+ q = a ./ abs (a);
+
+endfunction
\ No newline at end of file
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