Quaternion.h File Reference

#include "SimTKcommon/SmallMatrix.h"
#include "SimTKcommon/internal/UnitVec.h"
#include <iosfwd>

Go to the source code of this file.

Namespaces

namespace SimTK

Classes

class Quaternion

A Quaternion is a Vec4 with the following behavior:

its length is always 1 (or else it is all NaN)
it is equivalent to an angle/axis rotation for angle a, axis unit vector v, as: q = [ cos(a/2) sin(a/2)*v ] A quaternion is in "canonical form" when its first element is nonnegative.
More...


Namespaces
namespace	SimTK
Classes
class	Quaternion
	A Quaternion is a Vec4 with the following behavior: its length is always 1 (or else it is all NaN) it is equivalent to an angle/axis rotation for angle a, axis unit vector v, as: q = [ cos(a/2) sin(a/2)*v ] A quaternion is in "canonical form" when its first element is nonnegative. More...