# Quaternions

Note that all these functions work with single quaternions and quaternion vectors, as well as with arrays containing these.

## Quaternion class

- `quat.Quaternion` ... Quaternion class

## Functions for working with quaternions

- `quat.quatconj()` ... Conjugate quaternion
- `quat.quatinv()` ... Quaternion inversion
- `quat.quatmult()` ... Quaternion multiplication

## Conversion routines

- `quat.deg2quat()` ... Convert number or axis angles to quaternion vectors
- `quat.quat2deg()` ... Convert quaternion to corresponding axis angle
- `quat.quat2rotmat()` ... Convert quaternion to corresponding rotation matrix
- `quat.quat2vect()` ... Extract the vector part from a quaternion
- `quat.quat2vel()` ... Calculates the velocity in space from quaternions
- `quat.rotmat2quat()` ... Convert a rotation matrix to the corresponding quaternion
- `quat.vect2quat()` ... Extend a quaternion vector to a unit quaternion.
- `quat.vel2quat()` ... Calculate orientation from a starting orientation and angular velocity.

## Details