Index: trunk/doc/Flair/_rotation_matrix_8h_source.html
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--- trunk/doc/Flair/_rotation_matrix_8h_source.html	(revision 35)
+++ trunk/doc/Flair/_rotation_matrix_8h_source.html	(revision 36)
@@ -121,31 +121,39 @@
 <div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>core {</div>
 <div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">class </span>Euler;</div>
-<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div>
-<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classflair_1_1core_1_1_rotation_matrix.html">   25</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1core_1_1_rotation_matrix.html">RotationMatrix</a> {</div>
-<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div>
-<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a1654c70915d03eea7c712a04296b9583">RotationMatrix</a>();</div>
-<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
-<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a4c46e6c1cdd66818eaa131822e5bcbb3">~RotationMatrix</a>();</div>
-<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div>
-<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a2c2286d9604028ce59705d2514fc3caf">ToEuler</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">Euler</a> &amp;euler) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div>
-<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="classflair_1_1core_1_1_euler.html">Euler</a> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a2c2286d9604028ce59705d2514fc3caf">ToEuler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classflair_1_1core_1_1_rotation_matrix.html#a2931667bed155085f243743811f60536">   58</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a2931667bed155085f243743811f60536">m</a>[3][3];</div>
-<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div>
-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">float</span> &amp;operator()(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col);</div>
-<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;operator()(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;};</div>
-<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div>
-<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;} <span class="comment">// end namespace core</span></div>
-<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;} <span class="comment">// end namespace flair</span></div>
-<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div>
-<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#endif // ROTATIONMATRIX_H</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span>Quaternion;</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classflair_1_1core_1_1_rotation_matrix.html">   26</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1core_1_1_rotation_matrix.html">RotationMatrix</a> {</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a1654c70915d03eea7c712a04296b9583">RotationMatrix</a>();</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a4c46e6c1cdd66818eaa131822e5bcbb3">~RotationMatrix</a>();</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a2c2286d9604028ce59705d2514fc3caf">ToEuler</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">Euler</a> &amp;euler) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="classflair_1_1core_1_1_euler.html">Euler</a> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a2c2286d9604028ce59705d2514fc3caf">ToEuler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#afaf6104cf10df2980dedcdffe30112ec">ToQuaternion</a>(<a class="code" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#afaf6104cf10df2980dedcdffe30112ec">ToQuaternion</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classflair_1_1core_1_1_rotation_matrix.html#a2931667bed155085f243743811f60536">   74</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1core_1_1_rotation_matrix.html#a2931667bed155085f243743811f60536">m</a>[3][3];</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">float</span> &amp;operator()(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col);</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;operator()(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;};</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;} <span class="comment">// end namespace core</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;} <span class="comment">// end namespace flair</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="preprocessor">#endif // ROTATIONMATRIX_H</span></div>
 <div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html_a2c2286d9604028ce59705d2514fc3caf"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html#a2c2286d9604028ce59705d2514fc3caf">flair::core::RotationMatrix::ToEuler</a></div><div class="ttdeci">Euler ToEuler(void) const </div><div class="ttdoc">Convert to euler angles. </div></div>
 <div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
 <div class="ttc" id="classflair_1_1core_1_1_euler_html"><div class="ttname"><a href="classflair_1_1core_1_1_euler.html">flair::core::Euler</a></div><div class="ttdoc">Class defining euler angles. </div><div class="ttdef"><b>Definition:</b> Euler.h:27</div></div>
-<div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html">flair::core::RotationMatrix</a></div><div class="ttdoc">Class defining a rotation matrix. </div><div class="ttdef"><b>Definition:</b> RotationMatrix.h:25</div></div>
+<div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html">flair::core::RotationMatrix</a></div><div class="ttdoc">Class defining a rotation matrix. </div><div class="ttdef"><b>Definition:</b> RotationMatrix.h:26</div></div>
 <div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html_a1654c70915d03eea7c712a04296b9583"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html#a1654c70915d03eea7c712a04296b9583">flair::core::RotationMatrix::RotationMatrix</a></div><div class="ttdeci">RotationMatrix()</div><div class="ttdoc">Constructor. </div></div>
 <div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html_a4c46e6c1cdd66818eaa131822e5bcbb3"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html#a4c46e6c1cdd66818eaa131822e5bcbb3">flair::core::RotationMatrix::~RotationMatrix</a></div><div class="ttdeci">~RotationMatrix()</div><div class="ttdoc">Destructor. </div></div>
-<div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html_a2931667bed155085f243743811f60536"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html#a2931667bed155085f243743811f60536">flair::core::RotationMatrix::m</a></div><div class="ttdeci">float m[3][3]</div><div class="ttdoc">matrix </div><div class="ttdef"><b>Definition:</b> RotationMatrix.h:58</div></div>
+<div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html_afaf6104cf10df2980dedcdffe30112ec"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html#afaf6104cf10df2980dedcdffe30112ec">flair::core::RotationMatrix::ToQuaternion</a></div><div class="ttdeci">Quaternion ToQuaternion(void) const </div><div class="ttdoc">Convert to quaternion. </div></div>
+<div class="ttc" id="classflair_1_1core_1_1_rotation_matrix_html_a2931667bed155085f243743811f60536"><div class="ttname"><a href="classflair_1_1core_1_1_rotation_matrix.html#a2931667bed155085f243743811f60536">flair::core::RotationMatrix::m</a></div><div class="ttdeci">float m[3][3]</div><div class="ttdoc">matrix </div><div class="ttdef"><b>Definition:</b> RotationMatrix.h:74</div></div>
+<div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:25</div></div>
 </div><!-- fragment --></div><!-- contents -->
 </div><!-- doc-content -->
@@ -154,5 +162,5 @@
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