Can somebody help me to modify this code?

I am working with quaternion calculus. So inorder to find the quaternion rotation matrix,

Brot = q.B.(q^-1)

then to find B,

B = (q^-1). Brot.q

I was trying to find these values B and Brot in matlab. But I got different answers. Can somebody tell me the cause for the mistake?

q1=[4 3 2 6];
q2= qInv(q1);
B=[1 2 3;4 5 6;7 8 9];
Q1=q1(2:4);
Q2=q2(2:4);
J= Q1*B;
JJ=J*Q2;

KK= Q2*JJ;
JK= KK*Q1;

Can somebody help me to solve this?

[Cristian Garcia Milan]

What is yout error exactly?

Answer 1

[James Tursa]

In this

Brot = q.B.(q^-1)

and this

B = (q^-1). Brot.q

expression, the dot (.) is likely supposed to represent quaternion multiply, not standard matrix multiply as you seem to be doing.