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108  <div class="summary">
109<a href="#pub-methods">Public Member Functions</a> &#124;
110<a href="#pub-attribs">Public Attributes</a> &#124;
111<a href="classflair_1_1core_1_1_quaternion-members.html">List of all members</a>  </div>
112  <div class="headertitle">
113<div class="title">flair::core::Quaternion Class Reference</div>  </div>
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116
117<p>Class defining a quaternion. 
118 <a href="classflair_1_1core_1_1_quaternion.html#details">More...</a></p>
119
120<p><code>#include &lt;<a class="el" href="_quaternion_8h_source.html">Quaternion.h</a>&gt;</code></p>
121<table class="memberdecls">
122<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
123Public Member Functions</h2></td></tr>
124<tr class="memitem:a35151d7d2158d0a4714a66d2d426cf9c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a35151d7d2158d0a4714a66d2d426cf9c">Quaternion</a> (float <a class="el" href="classflair_1_1core_1_1_quaternion.html#a5394aa98e53d17253efd3c5eaca11fb2">q0</a>=1, float <a class="el" href="classflair_1_1core_1_1_quaternion.html#aaaea36fb6b8a1ae444f879e509cb4db5">q1</a>=0, float <a class="el" href="classflair_1_1core_1_1_quaternion.html#a47c497424771521c976143ef07bc7da1">q2</a>=0, float <a class="el" href="classflair_1_1core_1_1_quaternion.html#aabf0e55b55e7c66716494c5d7f343e70">q3</a>=0)</td></tr>
125<tr class="memdesc:a35151d7d2158d0a4714a66d2d426cf9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a35151d7d2158d0a4714a66d2d426cf9c">More...</a><br /></td></tr>
126<tr class="separator:a35151d7d2158d0a4714a66d2d426cf9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
127<tr class="memitem:a7aa88aa352e17590e0f9b454357fdbfc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a7aa88aa352e17590e0f9b454357fdbfc">~Quaternion</a> ()</td></tr>
128<tr class="memdesc:a7aa88aa352e17590e0f9b454357fdbfc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a7aa88aa352e17590e0f9b454357fdbfc">More...</a><br /></td></tr>
129<tr class="separator:a7aa88aa352e17590e0f9b454357fdbfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
130<tr class="memitem:a6931ec913f61c9708ef5970e63f8b0b5"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a6931ec913f61c9708ef5970e63f8b0b5">GetNorm</a> (void) const </td></tr>
131<tr class="memdesc:a6931ec913f61c9708ef5970e63f8b0b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Norm.  <a href="#a6931ec913f61c9708ef5970e63f8b0b5">More...</a><br /></td></tr>
132<tr class="separator:a6931ec913f61c9708ef5970e63f8b0b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
133<tr class="memitem:aa540ffe227bbacd124c77f95d8c720b3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#aa540ffe227bbacd124c77f95d8c720b3">Normalize</a> (void)</td></tr>
134<tr class="memdesc:aa540ffe227bbacd124c77f95d8c720b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize.  <a href="#aa540ffe227bbacd124c77f95d8c720b3">More...</a><br /></td></tr>
135<tr class="separator:aa540ffe227bbacd124c77f95d8c720b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
136<tr class="memitem:a8ddb69a52a35d36146fee38efb6336d2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a8ddb69a52a35d36146fee38efb6336d2">GetLogarithm</a> (<a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> &amp;logarithm)</td></tr>
137<tr class="memdesc:a8ddb69a52a35d36146fee38efb6336d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Logarithm.  <a href="#a8ddb69a52a35d36146fee38efb6336d2">More...</a><br /></td></tr>
138<tr class="separator:a8ddb69a52a35d36146fee38efb6336d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
139<tr class="memitem:a6a9b3279a79620aea9a3f9ab67eec245"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a6a9b3279a79620aea9a3f9ab67eec245">GetLogarithm</a> (void)</td></tr>
140<tr class="memdesc:a6a9b3279a79620aea9a3f9ab67eec245"><td class="mdescLeft">&#160;</td><td class="mdescRight">Logarithm.  <a href="#a6a9b3279a79620aea9a3f9ab67eec245">More...</a><br /></td></tr>
141<tr class="separator:a6a9b3279a79620aea9a3f9ab67eec245"><td class="memSeparator" colspan="2">&#160;</td></tr>
142<tr class="memitem:ae3cf1c1892b4d1c70ca055e42709f9df"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ae3cf1c1892b4d1c70ca055e42709f9df">Conjugate</a> (void)</td></tr>
143<tr class="memdesc:ae3cf1c1892b4d1c70ca055e42709f9df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conjugate.  <a href="#ae3cf1c1892b4d1c70ca055e42709f9df">More...</a><br /></td></tr>
144<tr class="separator:ae3cf1c1892b4d1c70ca055e42709f9df"><td class="memSeparator" colspan="2">&#160;</td></tr>
145<tr class="memitem:ab7b4f5b1f7419f6179f4fccc49e4e173"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ab7b4f5b1f7419f6179f4fccc49e4e173">GetConjugate</a> (void)</td></tr>
146<tr class="memdesc:ab7b4f5b1f7419f6179f4fccc49e4e173"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conjugate.  <a href="#ab7b4f5b1f7419f6179f4fccc49e4e173">More...</a><br /></td></tr>
147<tr class="separator:ab7b4f5b1f7419f6179f4fccc49e4e173"><td class="memSeparator" colspan="2">&#160;</td></tr>
148<tr class="memitem:ac13bf2f238a45ec6d20f1c1d137f1d39"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ac13bf2f238a45ec6d20f1c1d137f1d39">GetDerivative</a> (const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> &amp;angularSpeed) const </td></tr>
149<tr class="memdesc:ac13bf2f238a45ec6d20f1c1d137f1d39"><td class="mdescLeft">&#160;</td><td class="mdescRight">Derivative.  <a href="#ac13bf2f238a45ec6d20f1c1d137f1d39">More...</a><br /></td></tr>
150<tr class="separator:ac13bf2f238a45ec6d20f1c1d137f1d39"><td class="memSeparator" colspan="2">&#160;</td></tr>
151<tr class="memitem:a6daa4315e90e3567ab3cc82346deae86"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a6daa4315e90e3567ab3cc82346deae86">Derivate</a> (const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> &amp;angularSpeed)</td></tr>
152<tr class="memdesc:a6daa4315e90e3567ab3cc82346deae86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Derivate.  <a href="#a6daa4315e90e3567ab3cc82346deae86">More...</a><br /></td></tr>
153<tr class="separator:a6daa4315e90e3567ab3cc82346deae86"><td class="memSeparator" colspan="2">&#160;</td></tr>
154<tr class="memitem:a5d45a89dbbb73633701e344259e8b003"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a5d45a89dbbb73633701e344259e8b003">ToEuler</a> (<a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a> &amp;euler) const </td></tr>
155<tr class="memdesc:a5d45a89dbbb73633701e344259e8b003"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert to euler angles.  <a href="#a5d45a89dbbb73633701e344259e8b003">More...</a><br /></td></tr>
156<tr class="separator:a5d45a89dbbb73633701e344259e8b003"><td class="memSeparator" colspan="2">&#160;</td></tr>
157<tr class="memitem:ad98cdabf355956519d718aac330174ef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ad98cdabf355956519d718aac330174ef">ToEuler</a> (void) const </td></tr>
158<tr class="memdesc:ad98cdabf355956519d718aac330174ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert to euler angles.  <a href="#ad98cdabf355956519d718aac330174ef">More...</a><br /></td></tr>
159<tr class="separator:ad98cdabf355956519d718aac330174ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
160<tr class="memitem:a29d40f4afe4fa2f79a08a09619a4fc1a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a29d40f4afe4fa2f79a08a09619a4fc1a">ToRotationMatrix</a> (<a class="el" href="classflair_1_1core_1_1_rotation_matrix.html">RotationMatrix</a> &amp;matrix) const </td></tr>
161<tr class="memdesc:a29d40f4afe4fa2f79a08a09619a4fc1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert to rotation matrix.  <a href="#a29d40f4afe4fa2f79a08a09619a4fc1a">More...</a><br /></td></tr>
162<tr class="separator:a29d40f4afe4fa2f79a08a09619a4fc1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
163<tr class="memitem:a4f3a6012a315db41398417d0b93704ec"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4f3a6012a315db41398417d0b93704ec"></a>
164<a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator+=</b> (const <a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
165<tr class="separator:a4f3a6012a315db41398417d0b93704ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
166<tr class="memitem:aec35455d090ebfdf8323b5019f9923bd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec35455d090ebfdf8323b5019f9923bd"></a>
167<a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator-=</b> (const <a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
168<tr class="separator:aec35455d090ebfdf8323b5019f9923bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
169<tr class="memitem:a48f3e9b60017cbc8d7e9af035f85f3bf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48f3e9b60017cbc8d7e9af035f85f3bf"></a>
170<a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
171<tr class="separator:a48f3e9b60017cbc8d7e9af035f85f3bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
172</table><table class="memberdecls">
173<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
174Public Attributes</h2></td></tr>
175<tr class="memitem:a5394aa98e53d17253efd3c5eaca11fb2"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a5394aa98e53d17253efd3c5eaca11fb2">q0</a></td></tr>
176<tr class="memdesc:a5394aa98e53d17253efd3c5eaca11fb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">q0  <a href="#a5394aa98e53d17253efd3c5eaca11fb2">More...</a><br /></td></tr>
177<tr class="separator:a5394aa98e53d17253efd3c5eaca11fb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
178<tr class="memitem:aaaea36fb6b8a1ae444f879e509cb4db5"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#aaaea36fb6b8a1ae444f879e509cb4db5">q1</a></td></tr>
179<tr class="memdesc:aaaea36fb6b8a1ae444f879e509cb4db5"><td class="mdescLeft">&#160;</td><td class="mdescRight">q1  <a href="#aaaea36fb6b8a1ae444f879e509cb4db5">More...</a><br /></td></tr>
180<tr class="separator:aaaea36fb6b8a1ae444f879e509cb4db5"><td class="memSeparator" colspan="2">&#160;</td></tr>
181<tr class="memitem:a47c497424771521c976143ef07bc7da1"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a47c497424771521c976143ef07bc7da1">q2</a></td></tr>
182<tr class="memdesc:a47c497424771521c976143ef07bc7da1"><td class="mdescLeft">&#160;</td><td class="mdescRight">q2  <a href="#a47c497424771521c976143ef07bc7da1">More...</a><br /></td></tr>
183<tr class="separator:a47c497424771521c976143ef07bc7da1"><td class="memSeparator" colspan="2">&#160;</td></tr>
184<tr class="memitem:aabf0e55b55e7c66716494c5d7f343e70"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#aabf0e55b55e7c66716494c5d7f343e70">q3</a></td></tr>
185<tr class="memdesc:aabf0e55b55e7c66716494c5d7f343e70"><td class="mdescLeft">&#160;</td><td class="mdescRight">q3  <a href="#aabf0e55b55e7c66716494c5d7f343e70">More...</a><br /></td></tr>
186<tr class="separator:aabf0e55b55e7c66716494c5d7f343e70"><td class="memSeparator" colspan="2">&#160;</td></tr>
187</table>
188<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
189<div class="textblock"><p>Class defining a quaternion. </p>
190</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
191<a class="anchor" id="a35151d7d2158d0a4714a66d2d426cf9c"></a>
192<div class="memitem">
193<div class="memproto">
194      <table class="memname">
195        <tr>
196          <td class="memname">flair::core::Quaternion::Quaternion </td>
197          <td>(</td>
198          <td class="paramtype">float&#160;</td>
199          <td class="paramname"><em>q0</em> = <code>1</code>, </td>
200        </tr>
201        <tr>
202          <td class="paramkey"></td>
203          <td></td>
204          <td class="paramtype">float&#160;</td>
205          <td class="paramname"><em>q1</em> = <code>0</code>, </td>
206        </tr>
207        <tr>
208          <td class="paramkey"></td>
209          <td></td>
210          <td class="paramtype">float&#160;</td>
211          <td class="paramname"><em>q2</em> = <code>0</code>, </td>
212        </tr>
213        <tr>
214          <td class="paramkey"></td>
215          <td></td>
216          <td class="paramtype">float&#160;</td>
217          <td class="paramname"><em>q3</em> = <code>0</code>&#160;</td>
218        </tr>
219        <tr>
220          <td></td>
221          <td>)</td>
222          <td></td><td></td>
223        </tr>
224      </table>
225</div><div class="memdoc">
226
227<p>Constructor. </p>
228<p>Construct a quaternion using specified values.</p>
229<dl class="params"><dt>Parameters</dt><dd>
230  <table class="params">
231    <tr><td class="paramname">q0,scalar</td><td>part </td></tr>
232    <tr><td class="paramname">q1</td><td></td></tr>
233    <tr><td class="paramname">q2</td><td></td></tr>
234    <tr><td class="paramname">q3</td><td></td></tr>
235  </table>
236  </dd>
237</dl>
238
239</div>
240</div>
241<a class="anchor" id="a7aa88aa352e17590e0f9b454357fdbfc"></a>
242<div class="memitem">
243<div class="memproto">
244      <table class="memname">
245        <tr>
246          <td class="memname">flair::core::Quaternion::~Quaternion </td>
247          <td>(</td>
248          <td class="paramname"></td><td>)</td>
249          <td></td>
250        </tr>
251      </table>
252</div><div class="memdoc">
253
254<p>Destructor. </p>
255
256</div>
257</div>
258<h2 class="groupheader">Member Function Documentation</h2>
259<a class="anchor" id="a6931ec913f61c9708ef5970e63f8b0b5"></a>
260<div class="memitem">
261<div class="memproto">
262      <table class="memname">
263        <tr>
264          <td class="memname">float flair::core::Quaternion::GetNorm </td>
265          <td>(</td>
266          <td class="paramtype">void&#160;</td>
267          <td class="paramname"></td><td>)</td>
268          <td> const</td>
269        </tr>
270      </table>
271</div><div class="memdoc">
272
273<p>Norm. </p>
274<dl class="section return"><dt>Returns</dt><dd>norm </dd></dl>
275
276</div>
277</div>
278<a class="anchor" id="aa540ffe227bbacd124c77f95d8c720b3"></a>
279<div class="memitem">
280<div class="memproto">
281      <table class="memname">
282        <tr>
283          <td class="memname">void flair::core::Quaternion::Normalize </td>
284          <td>(</td>
285          <td class="paramtype">void&#160;</td>
286          <td class="paramname"></td><td>)</td>
287          <td></td>
288        </tr>
289      </table>
290</div><div class="memdoc">
291
292<p>Normalize. </p>
293
294</div>
295</div>
296<a class="anchor" id="a8ddb69a52a35d36146fee38efb6336d2"></a>
297<div class="memitem">
298<div class="memproto">
299      <table class="memname">
300        <tr>
301          <td class="memname">void flair::core::Quaternion::GetLogarithm </td>
302          <td>(</td>
303          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> &amp;&#160;</td>
304          <td class="paramname"><em>logarithm</em></td><td>)</td>
305          <td></td>
306        </tr>
307      </table>
308</div><div class="memdoc">
309
310<p>Logarithm. </p>
311<p>This method also Normalize the quaternion.</p>
312<dl class="params"><dt>Parameters</dt><dd>
313  <table class="params">
314    <tr><td class="paramname">logarithm</td><td>output logarithm </td></tr>
315  </table>
316  </dd>
317</dl>
318
319</div>
320</div>
321<a class="anchor" id="a6a9b3279a79620aea9a3f9ab67eec245"></a>
322<div class="memitem">
323<div class="memproto">
324      <table class="memname">
325        <tr>
326          <td class="memname"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> flair::core::Quaternion::GetLogarithm </td>
327          <td>(</td>
328          <td class="paramtype">void&#160;</td>
329          <td class="paramname"></td><td>)</td>
330          <td></td>
331        </tr>
332      </table>
333</div><div class="memdoc">
334
335<p>Logarithm. </p>
336<p>This method also Normalize the quaternion.</p>
337<dl class="section return"><dt>Returns</dt><dd>output logarithm </dd></dl>
338
339</div>
340</div>
341<a class="anchor" id="ae3cf1c1892b4d1c70ca055e42709f9df"></a>
342<div class="memitem">
343<div class="memproto">
344      <table class="memname">
345        <tr>
346          <td class="memname">void flair::core::Quaternion::Conjugate </td>
347          <td>(</td>
348          <td class="paramtype">void&#160;</td>
349          <td class="paramname"></td><td>)</td>
350          <td></td>
351        </tr>
352      </table>
353</div><div class="memdoc">
354
355<p>Conjugate. </p>
356
357</div>
358</div>
359<a class="anchor" id="ab7b4f5b1f7419f6179f4fccc49e4e173"></a>
360<div class="memitem">
361<div class="memproto">
362      <table class="memname">
363        <tr>
364          <td class="memname"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> flair::core::Quaternion::GetConjugate </td>
365          <td>(</td>
366          <td class="paramtype">void&#160;</td>
367          <td class="paramname"></td><td>)</td>
368          <td></td>
369        </tr>
370      </table>
371</div><div class="memdoc">
372
373<p>Conjugate. </p>
374<dl class="section return"><dt>Returns</dt><dd>Conjugate </dd></dl>
375
376</div>
377</div>
378<a class="anchor" id="ac13bf2f238a45ec6d20f1c1d137f1d39"></a>
379<div class="memitem">
380<div class="memproto">
381      <table class="memname">
382        <tr>
383          <td class="memname"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> flair::core::Quaternion::GetDerivative </td>
384          <td>(</td>
385          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> &amp;&#160;</td>
386          <td class="paramname"><em>angularSpeed</em></td><td>)</td>
387          <td> const</td>
388        </tr>
389      </table>
390</div><div class="memdoc">
391
392<p>Derivative. </p>
393<dl class="params"><dt>Parameters</dt><dd>
394  <table class="params">
395    <tr><td class="paramname">w</td><td>angular speed</td></tr>
396  </table>
397  </dd>
398</dl>
399<dl class="section return"><dt>Returns</dt><dd>derivative </dd></dl>
400
401</div>
402</div>
403<a class="anchor" id="a6daa4315e90e3567ab3cc82346deae86"></a>
404<div class="memitem">
405<div class="memproto">
406      <table class="memname">
407        <tr>
408          <td class="memname">void flair::core::Quaternion::Derivate </td>
409          <td>(</td>
410          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3D</a> &amp;&#160;</td>
411          <td class="paramname"><em>angularSpeed</em></td><td>)</td>
412          <td></td>
413        </tr>
414      </table>
415</div><div class="memdoc">
416
417<p>Derivate. </p>
418<dl class="params"><dt>Parameters</dt><dd>
419  <table class="params">
420    <tr><td class="paramname">w</td><td>rotationonal speed </td></tr>
421  </table>
422  </dd>
423</dl>
424
425</div>
426</div>
427<a class="anchor" id="a5d45a89dbbb73633701e344259e8b003"></a>
428<div class="memitem">
429<div class="memproto">
430      <table class="memname">
431        <tr>
432          <td class="memname">void flair::core::Quaternion::ToEuler </td>
433          <td>(</td>
434          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a> &amp;&#160;</td>
435          <td class="paramname"><em>euler</em></td><td>)</td>
436          <td> const</td>
437        </tr>
438      </table>
439</div><div class="memdoc">
440
441<p>Convert to euler angles. </p>
442<dl class="params"><dt>Parameters</dt><dd>
443  <table class="params">
444    <tr><td class="paramname">euler</td><td>output euler angles </td></tr>
445  </table>
446  </dd>
447</dl>
448
449</div>
450</div>
451<a class="anchor" id="ad98cdabf355956519d718aac330174ef"></a>
452<div class="memitem">
453<div class="memproto">
454      <table class="memname">
455        <tr>
456          <td class="memname"><a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a> flair::core::Quaternion::ToEuler </td>
457          <td>(</td>
458          <td class="paramtype">void&#160;</td>
459          <td class="paramname"></td><td>)</td>
460          <td> const</td>
461        </tr>
462      </table>
463</div><div class="memdoc">
464
465<p>Convert to euler angles. </p>
466<dl class="section return"><dt>Returns</dt><dd>euler angles </dd></dl>
467
468</div>
469</div>
470<a class="anchor" id="a29d40f4afe4fa2f79a08a09619a4fc1a"></a>
471<div class="memitem">
472<div class="memproto">
473      <table class="memname">
474        <tr>
475          <td class="memname">void flair::core::Quaternion::ToRotationMatrix </td>
476          <td>(</td>
477          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_rotation_matrix.html">RotationMatrix</a> &amp;&#160;</td>
478          <td class="paramname"><em>matrix</em></td><td>)</td>
479          <td> const</td>
480        </tr>
481      </table>
482</div><div class="memdoc">
483
484<p>Convert to rotation matrix. </p>
485<dl class="params"><dt>Parameters</dt><dd>
486  <table class="params">
487    <tr><td class="paramname">m</td><td>output matrix </td></tr>
488  </table>
489  </dd>
490</dl>
491
492</div>
493</div>
494<h2 class="groupheader">Member Data Documentation</h2>
495<a class="anchor" id="a5394aa98e53d17253efd3c5eaca11fb2"></a>
496<div class="memitem">
497<div class="memproto">
498      <table class="memname">
499        <tr>
500          <td class="memname">float flair::core::Quaternion::q0</td>
501        </tr>
502      </table>
503</div><div class="memdoc">
504
505<p>q0 </p>
506
507</div>
508</div>
509<a class="anchor" id="aaaea36fb6b8a1ae444f879e509cb4db5"></a>
510<div class="memitem">
511<div class="memproto">
512      <table class="memname">
513        <tr>
514          <td class="memname">float flair::core::Quaternion::q1</td>
515        </tr>
516      </table>
517</div><div class="memdoc">
518
519<p>q1 </p>
520
521</div>
522</div>
523<a class="anchor" id="a47c497424771521c976143ef07bc7da1"></a>
524<div class="memitem">
525<div class="memproto">
526      <table class="memname">
527        <tr>
528          <td class="memname">float flair::core::Quaternion::q2</td>
529        </tr>
530      </table>
531</div><div class="memdoc">
532
533<p>q2 </p>
534
535</div>
536</div>
537<a class="anchor" id="aabf0e55b55e7c66716494c5d7f343e70"></a>
538<div class="memitem">
539<div class="memproto">
540      <table class="memname">
541        <tr>
542          <td class="memname">float flair::core::Quaternion::q3</td>
543        </tr>
544      </table>
545</div><div class="memdoc">
546
547<p>q3 </p>
548
549</div>
550</div>
551</div><!-- contents -->
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