1 files changed, 5 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/matlab/quatConj.m b/SD-VBS/benchmarks/localization/src/matlab/quatConj.m
new file mode 100644
index 0000000..ff494b4
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/matlab/quatConj.m
@@ -0,0 +1,5 @@
+function retQuat=quatConj(a)
+rows = size(a,1);
+retQuat = zeros(rows, 4);
+retQuat=[a(:,1), -a(:,2), -a(:,3), -a(:,4)];
+