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Subsections

conjugate and inverse

Syntax

Quaternion   conjugate()const;
Quaternion   i()const;

Description

Compute the conjugate of the quaternion (or the inverse if it's a unit quaternion). The conjugate is defined as
$\displaystyle q^{*}$ $\textstyle =$ $\displaystyle w - xi - yj - zk$ (2.18)
  $\textstyle =$ $\displaystyle (s,-v)$ (2.19)

Return Value

Quaternion



Richard Gourdeau 2004-07-06