This package performs a quaternion rotation on a 3-D data set.
The code is written in C, which I have found produces a very significant (> 10X) speedup over a .m file version, allowing for rotation of large 3-D data set in a short amount of time.
« qrot3d » operates on single or double precision data and can take as an input either a quaternion or a rotation vector and angle.
rotdata = qrot3d(data,quaternion)
rotdata = qrot3d(data,omega,theta)
data must be a (Nx3) matrix. « qrot3d » works with both single and double precision.