matlab .m quaternion rotation on a 3-D data set.

http://www.mathworks.de/matlabcentral/fileexchange/loadFile.do?objectId=7107&objectType=file

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.

usage:

rotdata = qrot3d(data,quaternion)
or
rotdata = qrot3d(data,omega,theta)

data must be a (Nx3) matrix. "qrot3d" works with both single and double precision.