minus, -

Quaternion subtraction

Since R2023b

Syntax

C = A - B

Description

C = A - B subtracts quaternion B from quaternion A using quaternion subtraction. Either A or B may be a real number, in which case subtraction is performed with the real part of the quaternion argument.

Examples

Subtract a Quaternion from a Quaternion

Quaternion subtraction is defined as the subtraction of the corresponding parts of each quaternion. Create two quaternions and perform subtraction.

Q1 = quaternion([1,0,-2,7]);
Q2 = quaternion([1,2,3,4]);

Q1minusQ2 = Q1 - Q2

Q1minusQ2 = quaternion
     0 - 2i - 5j + 3k

Subtract a Real Number from a Quaternion

Addition and subtraction of real numbers is defined for quaternions as acting on the real part of the quaternion. Create a quaternion and then subtract 1 from the real part.

Q = quaternion([1,1,1,1])

Q = quaternion
     1 + 1i + 1j + 1k

Qminus1 = Q - 1

Qminus1 = quaternion
     0 + 1i + 1j + 1k

Input Arguments

A — Input

quaternion object | array of quaternion objects | real scalar | array of real numbers

Input, specified as a quaternion object, an array of quaternion objects of any dimensionality, a real scalar, or an array of real numbers of any dimensionality. Numeric values must be of data type single or double.

A and B must have compatible sizes. In the simplest cases, they can be the same size or one can be a scalar. Two inputs have compatible sizes if, for every dimension, the dimension sizes of the inputs are the same or one of the dimensions is 1.

B — Input

quaternion object | array of quaternion objects | real scalar | array of real numbers

Input, specified as a quaternion object, an array of quaternion objects of any dimensionality, a real scalar, or an array of real numbers of any dimensionality. Numeric values must be of data type single or double.

A and B must have compatible sizes. In the simplest cases, they can be the same size or one can be a scalar. Two inputs have compatible sizes if, for every dimension, the dimension sizes of the inputs are the same or one of the dimensions is 1.

Output Arguments

C — Result

quaternion object | array of quaternion objects

Result of quaternion subtraction, returned as a quaternion object or an array of quaternion objects.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023b