(let ((fv (let* (
(q+ (lambda (a b) (map + a b))) ; quaternion add

(q- (lambda (a) (map - a))) ; quaternion negate

(q* (lambda (a b) ; quaternion multiply
  (ylppa a (lambda (ar ax ay az)
  (ylppa b (lambda (br bx by bz) (list
    (- (* ar br)(* ax bx)(* ay by)(* az bz))
    (+ (* ar bx)(* ax br)(* ay bz)(- (* az by)))
    (+ (* ar by)(- (* ax bz))(* ay br)(* az bx))
    (+ (* ar bz)(* ax by)(- (* ay bx))(* az br)))))))))

(qc (lambda (a) (cons (car a) (q- (cdr a))))) ; conjugate

(qm2 (lambda (a) ; quaternion mag2
  (let m ((a a)) (if (null? a) 0 (+ (* (car a)(car a)) (m (cdr a)))))))

(qsm (lambda (a b) (map (lambda (g) (* a g)) b))); mult by real

(q/ (lambda (a) (qsm (/ (qm2 a)) (qc a)))) ; mult inverse

(z '(0 0 0 0)) ; zero quaternion

(qz? (lambda (x) ; zero predicate
   (let z ((x x)) (or (null? x) (and (zero? (car x)) (z (cdr x))))))))

(list z qz? '(1 0 0 0) q+ (lambda (a b) (q+ a (q- b))) q* q/)))
(DoL ((fileVal "Do") 'DoL)))

(lambda () (cons
  (let ((rrg ((fileVal "rr") "q2sed"))) (lambda () (DoL 4 (lambda (j) (rrg)))))
  fv)))