function PM = quaternion_matrix(p)
// Generates quaternion multiplication matrix
//     PM = quaternion_matrix(q) returns PM such that
//     PM * q = quaternion_multiply(p,q)
//
// REFERENCE
//    Oxford's Visual geometry group multiview matlab toolbox
// 
// $Revision: 1.1 $  $Date: 2010-10-09 23:39:24 $

PM = [
    p(1), -p(2), -p(3), -p(4)
    p(2),  p(1), -p(4),  p(3)
    p(3),  p(4),  p(1), -p(2)
    p(4), -p(3),  p(2),  p(1)
  ];

endfunction
//
// -------------------------------------------------------------------------
// SIP - Scilab Image Processing toolbox
// Copyright (C) 2002-2010  Ricardo Fabbri
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
// -------------------------------------------------------------------------
//
