qprod <- function(a, b){
## Product of two quaternions
q <- c(
b[1]*a[1] - b[2]*a[2] - b[3]*a[3] - b[4]*a[4],
b[1]*a[2] + b[2]*a[1] - b[3]*a[4] + b[4]*a[3],
b[1]*a[3] + b[2]*a[4] + b[3]*a[1] - b[4]*a[2],
b[1]*a[4] - b[2]*a[3] + b[3]*a[2] + b[4]*a[1]
)
}
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