Quaternion toolbox for Matlab

Quaternion toolbox for Matlab is a toolbox that extends Matlab to handle matrices of quaternions with real and complex components. Many Matlab operators and functions are overloaded to work for real quaternion and complexified quaternion matrices. Version 2 of the toolbox adds support for octonions. Version 3 adds symbolic computation with quaternions, provided that you have the Symbolic Math Toolbox (if you don't the numeric functionality will still work).