[Octave-cvsupdate] SF.net SVN: octave:[9098] trunk/octave-forge/extra/quaternion_oo

[<jpi...@us...>]

Revision: 9098
          http://octave.svn.sourceforge.net/octave/?rev=9098&view=rev
Author:   jpicarbajal
Date:     2011-11-14 22:35:45 +0000 (Mon, 14 Nov 2011)
Log Message:
-----------
quaternions_oo . Power vectorized to matrices of quaternions.

Modified Paths:
--------------
    trunk/octave-forge/extra/quaternion_oo/devel/RV9_Quaternions.txt
    trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m

Modified: trunk/octave-forge/extra/quaternion_oo/devel/RV9_Quaternions.txt
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/devel/RV9_Quaternions.txt	2011-11-14 19:13:11 UTC (rev 9097)
+++ trunk/octave-forge/extra/quaternion_oo/devel/RV9_Quaternions.txt	2011-11-14 22:35:45 UTC (rev 9098)
@@ -106,9 +106,9 @@
 
 DONE  Q = Quaternion(TH, V) is a unit quaternion corresponding to rotation of TH about the vector V.
 
- Q = Quaternion(R) is a unit quaternion corresponding to the orthonormal rotation matrix R.
+DONE  Q = Quaternion(R) is a unit quaternion corresponding to the orthonormal rotation matrix R.
 
- Q = Quaternion(T) is a unit quaternion equivalent to the rotational
+DONE  Q = Quaternion(T) is a unit quaternion equivalent to the rotational
 
 = methods =
 DONE [c] inv       return inverse of quaterion

Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m	2011-11-14 19:13:11 UTC (rev 9097)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/power.m	2011-11-14 22:35:45 UTC (rev 9098)
@@ -33,8 +33,9 @@
     a.x = -a.x ./ norm2;
     a.y = -a.y ./ norm2;
     a.z = -a.z ./ norm2;
-  else
 
+  elseif isvector (a.w)
+
     na = abs (a);
     th = acos (a.w ./ na);
     n = bsxfun (@rdivide, [a.x a.y a.z] ,sqrt ((a.x).^2 + (a.y).^2 + (a.z).^2));
@@ -47,6 +48,23 @@
     a.y = n(:,2) .* nab .* snt;
     a.z = n(:,3) .* nab .* snt;
 
+  else
+
+    na = abs (a);
+    th = acos (a.w ./ na);
+    nv = sqrt ((a.x).^2 + (a.y).^2 + (a.z).^2);
+    n.x = a.x ./ nv;
+    n.y = a.y ./ nv;
+    n.z = a.z ./ nv;
+
+    nab = na.^b;
+    a.w = nab .* cos (b.*th);
+
+    snt = sin (b.*th);
+    a.x = n.x .* nab .* snt;
+    a.y = n.y .* nab .* snt;
+    a.z = n.z .* nab .* snt;
+
   endif
 
 endfunction

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.