'qlasku'
"function v2q(v,t) {\n"
+"var q=[];\n"
+"q.push(t);\n"
+"q.push(v[0]);\n"
+"q.push(v[1]);\n"
+"q.push(v[2]);\n"
+"return q;\n"
+"}\n\n"

+"function qinv(v,t) {\n"
+"var norm=q[0]**2+q[1]**2+q[2]**2+q[3]**2;\n"
+"var qi=[];\n"
+"qi.push(q[0]/norm);\n"
+"qi.push(-q[1]/norm);\n"
+"qi.push(-q[2]/norm);\n"
+"qi.push(-q[3]/norm);\n"
+"return qi;\n"
+"}\n\n"

+"function qprod(p,q) {\n"
+"var r=[];\n"
+"r.push(p[0]*q[0]-p[1]*q[1]-p[2]*q[2]-p[3]*q[3]);\n"
+"r.push(p[0]*q[1]+p[1]*q[0]+p[2]*q[3]-p[3]*q[2]);\n"
+"r.push(p[0]*q[2]-p[1]*q[3]+p[2]*q[0]+p[3]*q[1]);\n"
+"r.push(p[0]*q[3]+p[1]*q[2]-p[2]*q[1]+p[3]*q[0]);\n"
+"return r;\n"
+"}\n\n";