Linear Quaternion Systems Toolbox for Matlab®

Matlab® is a proprietary software system for calculating with matrices of real and complex numbers, developed and sold by The MathWorks.

Quaternions are hypercomplex numbers (that is generalizations of the complex numbers to higher dimensions than two). For an introduction, refer to the Wikipedia article on Quaternions.

The Linear Quaternion Systems Toolbox for Matlab® extends Matlab® to allow calculation with linear systems of quaternions. (We will expand on this in due course.)


The toolbox is licensed under the GNU General Public License.


The Linear Quaternion Systems toolbox requires the Quaternion Toolbox for Matlab (QTFM) written by Steve Sangwine and Nicolas Le Bihan to provide the underlying quaternion functionality.

The Linear Quaternion Systems toolbox was developed using MATLAB® Version 7 (R2007a).

To use the Linear Quaternion Systems toolbox you will need a licensed copy of Matlab® itself, plus a copy of the QTFM toolbox.

How to get the toolbox

To access the latest release and SVN repository or to email the authors, follow this link to the project summary page. We make releases at irregular intervals, but update individual files in the SVN repository. To be fully up-to-date you should download the latest release, and then any files that have changed since the release date. Access to the SVN repository is possible through a web interface that makes it easy to download individual files.

LQSTFM source files were managed in a CVS repository until November 2017, when the project was converted to Subversion (SVN).

Mailing list

We may provide a mailing list at a later date.
The Linear Quaternion Systems toolbox was developed by Todd Ell and Steve Sangwine.
Created: 18 September 2007. Updated: 25 November 2017. Logo Valid HTML 4.0!