Simple Quaternion and 3D Rotation function library

Library of functions for the quaternion algebra and the rotation matrices.

This simple library implements the quaternion algebra in Matlab using the isomorphism between quaternions and R^4.
It also implements the rotation matrices for many combinations of Euler angles and the Rodrigues' Formula and the quaternion version.
This library also contains a 3D Visualization tool.

Summarized description functions:
The sum and subtraction is normally performed by Matlab as R^4 vectors.
conjugate
division on the left
division on the right
exponential
inverse
absolute value
plot of coordinates in 3D
product
product with dot and cross commands
matrix isomorphism 1
matrix isomorphism 2
rotation
to string
Rx
Ry
Rz
Rxyz -- and others combinations of Euler Angles.
Time derivative of Rxyz
Rot Rodrigues