四元数奇异值分解 matlab代码

以下是 MATLAB 代码，用于计算四元数的奇异值分解：

function [U,S,V] = quat_svd(q)
% QUAT_SVD Compute Singular Value Decomposition (SVD) of a Quaternion
%   [U,S,V] = quat_svd(q) calculates the Singular Value Decomposition of a
%   quaternion q, where q is a 4x1 vector [w x y z], and returns the left
%   singular vectors U, singular values S, and right singular vectors V.
%
%   See also SVD.

% Convert quaternion to 3x3 rotation matrix
R = quat2rotm(q);

% Calculate SVD of rotation matrix
[U,S,V] = svd(R);
end

注意：在使用此代码之前，需要先安装 Robotics System Toolbox。