Use of quaternions

• Puma_quaternions.m
• trans_k_i1.m

This function models the transition from TI to TO
It implements Eq. (15) in the paper
C. Pozna and R.-E. Precup, On the use of quaternions in the translated reference frame formalism, Robotics and Autonomous Systems, 2021.

This program should be cited as:
C. Pozna and R.-E. Precup, On the use of quaternions in the translated reference frame formalism, Robotics and Autonomous Systems, 2021.