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/********************************
Author: Sravanthi Kota Venkata
********************************/
#include <stdio.h>
#include <stdlib.h>
#include "localization.h"
F2D* quatMul(F2D* a, F2D* b)
{
int ra, ca, rb, cb;
F2D *ret;
int i, j, k=0;
ra = a->height;
ca = a->width;
rb = b->height;
cb = b->width;
ret = fSetArray(ra, 4, 0);
j = 0;
for(i=0; i<ra; i++)
{
k = 0;
float ai0, ai1, ai2, ai3;
float bj0, bj1, bj2, bj3;
ai0 = subsref(a,i,0);
ai1 = subsref(a,i,1);
ai2 = subsref(a,i,2);
ai3 = subsref(a,i,3);
bj0 = subsref(b,j,0);
bj1 = subsref(b,j,1);
bj2 = subsref(b,j,2);
bj3 = subsref(b,j,3);
subsref(ret,i,k++) = ai0*bj0 - ai1*bj1 - ai2*bj2 - ai3*bj3;
subsref(ret,i,k++) = ai0*bj1 + ai1*bj0 + ai2*bj3 - ai3*bj2;
subsref(ret,i,k++) = ai0*bj2 - ai1*bj3 + ai2*bj0 + ai3*bj1;
subsref(ret,i,k++) = ai0*bj3 + ai1*bj2 - ai2*bj1 + ai3*bj0;
if(rb == ra)
j++;
}
return ret;
}
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