Quaternions

Quaternion class and demo of its applications. Quaternion matrix multiplication, spherical linear interpolation, and Euler angle I/O.

Quaternion class I made during a university course to help me understand quaternions and MATLAB better. Definitely not as fully-featured as the official MathWorks alternatives.

Try the included "doodle.m" & "randrot.m" functions for a demonstration of how quaternions can be used to generate complex-looking rotations and paths in 3D space with compact notation.

Documentation for the class is in several block comments at the top of the m-file.