Function quaternion_rotation,v,q Usage: v_prime = quaternion_rotation(v,q) Purpose: Rotate a vector v using the quaternion q Inputs: v: a 3 element array, or an Nx3 element array, representing the vectors q: a 4 element array, or an Nx4 element array, representing UNIT quaternion(s) Alternatively- If last_index=1 then: arrays can be v: 3xN element array Q: 4xN element array Written by: Davin Larson $LastChangedBy: davin-mac $ $LastChangedDate: 2014-04-18 13:05:24 -0700 (Fri, 18 Apr 2014) $ $LastChangedRevision: 14862 $ $URL: svn+ssh://thmsvn@ambrosia.ssl.berkeley.edu/repos/spdsoft/trunk/general/misc/quaternion/quaternion_rotation.pro $