Function: qcompose,v,theta Purpose: compose quaternions from vectors and angles Inputs: vec: 3 element array or an Nx3 element array theta: an angle or an N element array of angles(in radians) Keywords: free: Flag to allow thetas outside [0,pi) Returns: a 4 element quaternion or an Nx4 element array of quaternions ;Notes: Implementation largely copied from the euve c library for quaternions Represention has q[0] = scalar component q[1] = vector x q[2] = vector y q[3] = vector z The vector component of the quaternion can also be thought of as an eigenvalue of the rotation the quaterion performs Written by: Patrick Cruce(pcruce@igpp.ucla.edu) $LastChangedBy: pcruce $ $LastChangedDate: 2007-11-11 17:12:08 -0800 (Sun, 11 Nov 2007) $ $LastChangedRevision: 2027 $ $URL: svn+ssh://thmsvn@ambrosia.ssl.berkeley.edu/repos/ssl_general/trunk/cotrans/cotrans.pro $