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.
Quaternion toolbox for Matlab® extends Matlab® to allow calculation with matrices of quaternions in almost the same way that one calculates with matrices of complex numbers. This is achieved by defining a private type to represent quaternion matrices and overloadings of many standard Matlab® functions. The toolbox supports real and complex quaternions (that is quaternions with four real or complex components).
