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/********************************
Author: Sravanthi Kota Venkata
********************************/
#include <stdio.h>
#include <stdlib.h>
#include "localization.h"
F2D* quatRot(F2D* vec, F2D* rQuat)
{
F2D *ret;
int nr, i, j, k, rows, cols;
F2D *tv, *vQuat, *temp, *temp1;
F2D *retVec;
nr = vec->height;
tv = fSetArray(nr, 1, 0);
vQuat = fHorzcat(tv, vec);
temp = quatMul(rQuat, vQuat);
temp1 = quatConj(rQuat);
retVec = quatMul(temp, temp1);
rows = retVec->height;
cols = retVec->width;
ret = fSetArray(rows, 3, 0);
for(i=0; i<rows; i++)
{
k = 0;
for(j=1; j<4; j++)
{
subsref(ret,i,k) = subsref(retVec,i,j);
k++;
}
}
fFreeHandle(tv);
fFreeHandle(vQuat);
fFreeHandle(temp);
fFreeHandle(temp1);
fFreeHandle(retVec);
return ret;
}
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