1 #ifndef MATEMATICAQUADRI_H 2 #define MATEMATICAQUADRI_H 15 Quadri(
double Ang1,
double Ang2,
double Ang3);
17 Quadri(
double ww,
double xx,
double yy,
double zz);
55 void Basis(
double a,
double b,
double c,
double d,
double *Matr);
63 double *
operator* (
const double *Vet)
const;
Quadri operator=(const Quadri &rq) const
Equal operator.
void Matrix4x4(double *M)
Create a 4x4 rotation matrix.
double Angle()
Return the rotation angle.
double Norm()
Norm of the quaternion.
double Sqr()
Square of a quaternion.
double * Axis()
Print the component of the axis.
void RotMatrix(double *data, int dim)
Alternative creation of a rotation matrix.
double x
First basis component.
Quadri()
An empty quaternion.
void PrintMatrix(double *M)
Print a rotation matrix.
double y
Second basis component.
void Matrix3x3(double *M)
Create a 3x3 rotation matrix.
double Normalize()
Normalize a quaternion.
double NormInv(double *Vett)
Inverse norm of a 3d-vector.
double w
Forth basis component.
double z
Third basis component.
void Basis(double a, double b, double c, double d, double *Matr)
Boh.
Quadri operator*(const Quadri &rq) const
Scalar product with a quaternion.
Quadri GetConj()
Give the conjugate.
void Prod(Quadri q)
Product between two quaternions.