The Quaternion class deals with quaternions. Unit quaternions
are used to represent rotations. It is composed of two elements: a
scalar (Real s_) and a vector
(ColumnVector v_) representing a quaternion
(see[1]).
![]() |
![]() |
![]() |
(2.16) |
![]() |
![]() |
(2.17) |
An object of this class can be initialize with no parameter ( and
), from an other unit quaternion, from an angle of
rotation around a unit vector, from a rotation matrix, from a
quaternion object or from the four components of a quaternion. The
constructors does not guarantee that quaternions will be unit.