prod

Product of a quaternion array

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Syntax

quatProd = prod(quat)
quatProd = prod(quat,dim)

Description

example

quatProd = prod(quat) returns the quaternion product of the elements of the array.

example

quatProd = prod(quat,dim) calculates the quaternion product along dimension dim.

Examples

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Open Live Script

Create a 3-by-3 array whose elements correspond to their linear indices.

A = reshape(quaternion(randn(9,4)),3,3)
A=3×3 quaternion array
      0.53767 +   2.7694i +    1.409j -  0.30344k      0.86217 +   0.7254i -   1.2075j +   0.8884k     -0.43359 -  0.20497i +  0.48889j -   0.8095k
       1.8339 -   1.3499i +   1.4172j +  0.29387k      0.31877 - 0.063055i +  0.71724j -   1.1471k      0.34262 -  0.12414i +   1.0347j -   2.9443k
      -2.2588 +   3.0349i +   0.6715j -  0.78728k      -1.3077 +  0.71474i +   1.6302j -   1.0689k       3.5784 +   1.4897i +  0.72689j +   1.4384k

Find the product of the quaternions in each column. The length of the first dimension is 1, and the length of the second dimension matches size(A,2).

B = prod(A)
B=1×3 quaternion array
     -19.837 -  9.1521i +  15.813j -  19.918k     -5.4708 - 0.28535i +   3.077j -  1.2295k      -10.69 -  8.5199i -  2.8801j - 0.65338k
Open Live Script

You can specify which dimension of a quaternion array to take the product of.

Create a 2-by-2-by-2 quaternion array.

A = reshape(quaternion(randn(8,4)),2,2,2);

Find the product of the elements in each page of the array. The length of the first dimension matches size(A,1), the length of the second dimension matches size(A,2), and the length of the third dimension is 1.

dim = 3;
B = prod(A,dim)
B=2×2 quaternion array
     -2.4847 +  1.1659i - 0.37547j +  2.8068k     0.28786 - 0.29876i - 0.51231j -  4.2972k
     0.38986 -  3.6606i -  2.0474j -   6.047k      -1.741 - 0.26782i +  5.4346j +  4.1452k

Input Arguments

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Quaternion, specified as scalar, vector, matrix, or multidimensional array of quaternions.

Example: qProd = prod(quat) calculates the quaternion product along the first non-singleton dimension of quat.

Data Types: quaternion

Dimension along which to calculate the quaternion product, specified as a positive integer. If dim is not specified, prod operates along the first non-singleton dimension of quat.

Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 | uint32 | uint64

Output Arguments

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Quaternion product, returned as quaternion array with one less non-singleton dimension than quat.

For example, if quat is a 2-by-2-by-5 array,

  • prod(quat,1) returns a 1-by-2-by-5 array.

  • prod(quat,2) returns a 2-by-1-by-5 array.

  • prod(quat,3) returns a 2-by-2 array.

Data Types: quaternion

Extended Capabilities

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

See Also

Functions

Objects

Introduced in R2018a

Robotics System Toolbox Documentation

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