# v_rotmc2qc

## PURPOSE

V_ROTMC2QC converts a matrix of complex quaternion matrices to a matrix of complex quaternion vectors

## SYNOPSIS

function qc=v_rotmc2qc(mc)

## DESCRIPTION

    V_ROTMC2QC converts a matrix of complex quaternion matrices to a matrix of complex quaternion vectors
     Inputs:

         MC(2m,2n,...)   mxn matrix of real quaternion matrices (each 2x2)

     Outputs:

         QC(2m,n,...)   mxn matrix of real quaternion vectors (each 2x1)

     In matrix form, quaternions can be multiplied and added using normal matrix
     arithmetic. Each element of an mxn matrix of quaternions is itself a 2x2 block
     so the total dimension of MC is 2m x 2n.

## CROSS-REFERENCE INFORMATION

This function calls:

- v_rotqr2ro ROTQR2RO converts a real quaternion to a 3x3 rotation matrix

This function is called by:

## SOURCE CODE

    0001 function qc=v_rotmc2qc(mc)
    0002 %V_ROTMC2QC converts a matrix of complex quaternion matrices to a matrix of complex quaternion vectors
    0003 % Inputs:
    0004 %
    0005 %     MC(2m,2n,...)   mxn matrix of real quaternion matrices (each 2x2)
    0006 %
    0007 % Outputs:
    0008 %
    0009 %     QC(2m,n,...)   mxn matrix of real quaternion vectors (each 2x1)
    0010 %
    0011 % In matrix form, quaternions can be multiplied and added using normal matrix
    0012 % arithmetic. Each element of an mxn matrix of quaternions is itself a 2x2 block
    0013 % so the total dimension of MC is 2m x 2n.
    0014
    0015 %
    0016 %      Copyright (C) Mike Brookes 2000-2018
    0017 %      Version: $Id: v_rotmc2qc.m 10865 2018-09-21 17:22:45Z dmb $
    0018 %
    0019 %   VOICEBOX is a MATLAB toolbox for speech processing.
    0020 %   Home page: http://www.ee.ic.ac.uk/hp/staff/dmb/voicebox/voicebox.html
    0021 %
    0022 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    0023 %   This program is free software; you can redistribute it and/or modify
    0024 %   it under the terms of the GNU Lesser General Public License as published by
    0025 %   the Free Software Foundation; either version 3 of the License, or
    0026 %   (at your option) any later version.
    0027 %
    0028 %   This program is distributed in the hope that it will be useful,
    0029 %   but WITHOUT ANY WARRANTY; without even the implied warranty of
    0030 %   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    0031 %   GNU Lesser General Public License for more details.
    0032 %
    0033 %   You can obtain a copy of the GNU Lesser General Public License from
    0034 %   https://www.gnu.org/licenses/ .
    0035 %
    0036 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    0037 s=size(mc);
    0038 s(2)=s(2)/2; % half the size of dimension 2
    0039 mc=reshape(mc,s(1),[]);
    0040 qc=reshape(mc(:,1:2:end),s);
    0041 if ~nargout
    0042     v_rotqr2ro([real(qc(1)); real(qc(2)); imag(qc(1)); imag(qc(2))]); % plot a rotated cube
    0043 end