[2] | 1 | // %flair:license{
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[15] | 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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[2] | 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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[167] | 15 | #include <Vector3D.h>
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| 16 |
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[15] | 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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[2] | 21 |
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[15] | 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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[2] | 39 |
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[15] | 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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[2] | 45 |
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[15] | 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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[2] | 52 |
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[15] | 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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[2] | 57 |
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[15] | 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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[167] | 65 | void GetLogarithm(Vector3Df &logarithm);
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[2] | 66 |
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[15] | 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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[167] | 74 | Vector3Df GetLogarithm(void);
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[2] | 75 |
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[15] | 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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[2] | 80 |
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[15] | 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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[2] | 87 |
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[15] | 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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[167] | 95 | Quaternion GetDerivative(const Vector3Df &angularSpeed) const;
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[2] | 96 |
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[15] | 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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[167] | 102 | void Derivate(const Vector3Df &angularSpeed);
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[2] | 103 |
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[15] | 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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[2] | 110 |
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[15] | 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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[336] | 117 |
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| 118 | /*!
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| 119 | * \brief Get roll euler angle
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| 120 | *
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| 121 | * \return roll euler angle
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| 122 | */
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| 123 | float GetEulerRoll(void) const;
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| 124 |
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| 125 | /*!
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| 126 | * \brief Get pitch euler angle
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| 127 | *
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| 128 | * \return pitch euler angle
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| 129 | */
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| 130 | float GetEulerPitch(void) const;
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| 131 |
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| 132 | /*!
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| 133 | * \brief Get yaw euler angle
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| 134 | *
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| 135 | * \return yaw euler angle
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| 136 | */
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| 137 | float GetEulerYaw(void) const;
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[2] | 138 |
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[15] | 139 | /*!
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| 140 | * \brief Convert to rotation matrix
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| 141 | *
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| 142 | * \param m output matrix
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| 143 | */
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| 144 | void ToRotationMatrix(RotationMatrix &matrix) const;
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[2] | 145 |
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[15] | 146 | /*!
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| 147 | * \brief q0
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| 148 | */
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| 149 | float q0;
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[2] | 150 |
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[15] | 151 | /*!
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| 152 | * \brief q1
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| 153 | */
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| 154 | float q1;
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[2] | 155 |
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[15] | 156 | /*!
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| 157 | * \brief q2
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| 158 | */
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| 159 | float q2;
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[2] | 160 |
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[15] | 161 | /*!
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| 162 | * \brief q3
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| 163 | */
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| 164 | float q3;
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[2] | 165 |
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[15] | 166 | Quaternion &operator+=(const Quaternion &quaternion);
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| 167 | Quaternion &operator-=(const Quaternion &quaternion);
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| 168 | Quaternion &operator=(const Quaternion &quaternion);
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| 169 | };
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[2] | 170 |
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[15] | 171 | /*! Add
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| 172 | *
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| 173 | * \brief Add
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| 174 | *
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| 175 | * \param quaterniontA quaternion
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| 176 | * \param quaterniontB quaternion
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| 177 | *
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| 178 | * \return quaterniontA+quaterniontB
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| 179 | */
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| 180 | Quaternion operator+(Quaternion const &quaterniontA,
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| 181 | Quaternion const &quaterniontB);
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[2] | 182 |
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[15] | 183 | /*! Substract
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| 184 | *
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| 185 | * \brief Substract
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| 186 | *
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| 187 | * \param quaterniontA quaternion
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| 188 | * \param quaterniontB quaternion
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| 189 | *
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| 190 | * \return quaterniontA-quaterniontB
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| 191 | */
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| 192 | Quaternion operator-(Quaternion const &quaternionA,
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| 193 | Quaternion const &quaterniontB);
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[2] | 194 |
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[15] | 195 | /*! Minus
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| 196 | *
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| 197 | * \brief Minus
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| 198 | *
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| 199 | * \param quaternion quaternion
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| 200 | *
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| 201 | * \return -quaternion
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| 202 | */
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| 203 | Quaternion operator-(const Quaternion &quaternion);
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[2] | 204 |
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[15] | 205 | /*! Multiply
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| 206 | *
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| 207 | * \brief Multiply
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| 208 | *
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| 209 | * \param quaterniontA quaternion
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| 210 | * \param quaterniontB quaternion
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| 211 | *
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| 212 | * \return quaterniontA*quaterniontB
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| 213 | */
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| 214 | Quaternion operator*(Quaternion const &quaternionA,
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| 215 | Quaternion const &quaterniontB);
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[2] | 216 |
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[15] | 217 | /*! Multiply
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| 218 | *
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| 219 | * \brief Multiply
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| 220 | *
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| 221 | * \param coeff coefficient
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| 222 | * \param quat quaternion
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| 223 | *
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| 224 | * \return coeff*quat
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| 225 | */
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| 226 | Quaternion operator*(float coeff, Quaternion const &quaternion);
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[2] | 227 |
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[15] | 228 | /*! Multiply
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| 229 | *
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| 230 | * \brief Multiply
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| 231 | *
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| 232 | * \param quat quaternion
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| 233 | * \param coeff coefficient
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| 234 | *
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| 235 | * \return coeff*quat
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| 236 | */
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| 237 | Quaternion operator*(Quaternion const &quaternion, float coeff);
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[2] | 238 |
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| 239 | } // end namespace core
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| 240 | } // end namespace flair
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| 241 |
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| 242 | #endif // QUATERNION_H
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