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Ran 30 May 2020 12:59PM UTC

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Committed 06 May 2020 11:17AM UTC coverage: 100.0%. Remained the same

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Build Type

cron

travis-ci

Committed by

jkflying

Commit Message

Quaternion: refactor multiplication to matrix multiplication style

Most often the multiplication in convention descriptions and papers is
described in matrix multiplication style like this:
q · p := Q(q)p

Q(q) :=
[q0 −q1 −q2 −q3]
[q1 q0 −q3 q2]
[q2 q3 q0 −q1]
[q3 −q2 q1 q0]

I'm just rearanging the terms such that it's easily comparable with
these definitions additional to it being clearly described by
documenting we use the hamilton convention.

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