1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file Quaternion.h
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7 | * \brief Class defining a quaternion
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2016/02/03
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10 | * \version 4.0
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11 | */
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12 | #ifndef QUATERNION_H
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13 | #define QUATERNION_H
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14 |
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15 | #include <Vector3D.h>
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16 |
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17 | namespace flair {
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18 | namespace core {
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19 | class Euler;
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20 | class RotationMatrix;
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21 |
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22 | /*! \class Quaternion
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23 | *
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24 | * \brief Class defining a quaternion
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25 | */
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26 | class Quaternion {
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27 | public:
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28 | /*!
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29 | * \brief Constructor
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30 | *
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31 | * Construct a quaternion using specified values.
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32 | *
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33 | * \param q0, scalar part
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34 | * \param q1
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35 | * \param q2
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36 | * \param q3
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37 | */
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38 | Quaternion(float q0 = 1, float q1 = 0, float q2 = 0, float q3 = 0);
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39 |
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40 | /*!
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41 | * \brief Destructor
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42 | *
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43 | */
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44 | ~Quaternion();
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45 |
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46 | /*!
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47 | * \brief Norm
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48 | *
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49 | * \return norm
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50 | */
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51 | float GetNorm(void) const;
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52 |
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53 | /*!
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54 | * \brief Normalize
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55 | */
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56 | void Normalize(void);
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57 |
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58 | /*!
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59 | * \brief Logarithm
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60 | *
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61 | * This method also Normalize the quaternion.
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62 | *
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63 | * \param logarithm output logarithm
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64 | */
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65 | void GetLogarithm(Vector3Df &logarithm);
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66 |
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67 | /*!
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68 | * \brief Logarithm
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69 | *
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70 | * This method also Normalize the quaternion.
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71 | *
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72 | * \return output logarithm
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73 | */
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74 | Vector3Df GetLogarithm(void);
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75 |
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76 | /*!
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77 | * \brief Conjugate
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78 | */
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79 | void Conjugate(void);
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80 |
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81 | /*!
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82 | * \brief Conjugate
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83 | *
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84 | * \return Conjugate
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85 | */
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86 | Quaternion GetConjugate(void);
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87 |
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88 | /*!
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89 | * \brief Derivative
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90 | *
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91 | * \param w angular speed
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92 | *
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93 | * \return derivative
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94 | */
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95 | Quaternion GetDerivative(const Vector3Df &angularSpeed) const;
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96 |
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97 | /*!
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98 | * \brief Derivate
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99 | *
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100 | * \param w rotationonal speed
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101 | */
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102 | void Derivate(const Vector3Df &angularSpeed);
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103 |
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104 | /*!
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105 | * \brief Convert to euler angles
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106 | *
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107 | * \param euler output euler angles
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108 | */
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109 | void ToEuler(Euler &euler) const;
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110 |
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111 | /*!
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112 | * \brief Convert to euler angles
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113 | *
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114 | * \return euler angles
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115 | */
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116 | Euler ToEuler(void) const;
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117 |
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118 | /*!
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119 | * \brief Convert to rotation matrix
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120 | *
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121 | * \param m output matrix
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122 | */
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123 | void ToRotationMatrix(RotationMatrix &matrix) const;
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124 |
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125 | /*!
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126 | * \brief q0
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127 | */
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128 | float q0;
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129 |
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130 | /*!
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131 | * \brief q1
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132 | */
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133 | float q1;
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134 |
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135 | /*!
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136 | * \brief q2
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137 | */
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138 | float q2;
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139 |
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140 | /*!
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141 | * \brief q3
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142 | */
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143 | float q3;
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144 |
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145 | Quaternion &operator+=(const Quaternion &quaternion);
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146 | Quaternion &operator-=(const Quaternion &quaternion);
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147 | Quaternion &operator=(const Quaternion &quaternion);
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148 | };
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149 |
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150 | /*! Add
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151 | *
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152 | * \brief Add
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153 | *
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154 | * \param quaterniontA quaternion
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155 | * \param quaterniontB quaternion
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156 | *
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157 | * \return quaterniontA+quaterniontB
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158 | */
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159 | Quaternion operator+(Quaternion const &quaterniontA,
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160 | Quaternion const &quaterniontB);
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161 |
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162 | /*! Substract
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163 | *
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164 | * \brief Substract
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165 | *
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166 | * \param quaterniontA quaternion
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167 | * \param quaterniontB quaternion
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168 | *
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169 | * \return quaterniontA-quaterniontB
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170 | */
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171 | Quaternion operator-(Quaternion const &quaternionA,
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172 | Quaternion const &quaterniontB);
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173 |
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174 | /*! Minus
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175 | *
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176 | * \brief Minus
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177 | *
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178 | * \param quaternion quaternion
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179 | *
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180 | * \return -quaternion
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181 | */
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182 | Quaternion operator-(const Quaternion &quaternion);
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183 |
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184 | /*! Multiply
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185 | *
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186 | * \brief Multiply
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187 | *
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188 | * \param quaterniontA quaternion
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189 | * \param quaterniontB quaternion
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190 | *
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191 | * \return quaterniontA*quaterniontB
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192 | */
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193 | Quaternion operator*(Quaternion const &quaternionA,
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194 | Quaternion const &quaterniontB);
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195 |
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196 | /*! Multiply
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197 | *
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198 | * \brief Multiply
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199 | *
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200 | * \param coeff coefficient
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201 | * \param quat quaternion
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202 | *
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203 | * \return coeff*quat
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204 | */
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205 | Quaternion operator*(float coeff, Quaternion const &quaternion);
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206 |
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207 | /*! Multiply
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208 | *
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209 | * \brief Multiply
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210 | *
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211 | * \param quat quaternion
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212 | * \param coeff coefficient
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213 | *
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214 | * \return coeff*quat
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215 | */
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216 | Quaternion operator*(Quaternion const &quaternion, float coeff);
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217 |
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218 | } // end namespace core
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219 | } // end namespace flair
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220 |
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221 | #endif // QUATERNION_H
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