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< div class = "headertitle" > < div class = "title" > 3D Quaternion operations< div class = "ingroups" > < a class = "el" href = "../../de/d5a/group__quaternions.html" > Library for 3D Vectors & Quaternions< / a > < / div > < / div > < / div >
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Collaboration diagram for 3D Quaternion operations:< / div >
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Data Structures< / h2 > < / td > < / tr >
< tr class = "memitem:" > < td class = "memItemLeft" align = "right" valign = "top" > struct   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../de/d58/structquaternion__.html" > quaternion_< / a > < / td > < / tr >
< tr class = "memdesc:" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > a Quaternion type represented using a scalar \(w\) or \(q_0\) and a 3D vector \(\left(q_1,q_2,q_3\right)\) < a href = "../../de/d58/structquaternion__.html#details" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:" > < td class = "memItemLeft" align = "right" valign = "top" > struct   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../d2/de8/structeuler__.html" > euler_< / a > < / td > < / tr >
< tr class = "memdesc:" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > 3D Euler or Tait-Bryan angles (in radian) < a href = "../../d2/de8/structeuler__.html#details" > More...< / a > < br / > < / td > < / tr >
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Typedefs< / h2 > < / td > < / tr >
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typedef struct < a class = "el" href = "../../de/d58/structquaternion__.html" > quaternion_< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < b > quaternion< / b > < / td > < / tr >
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< tr class = "memdesc:gaacd70a16b61dd47a19eb5fb729c2669b" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > a Quaternion type represented using a scalar \(w\) or \(q_0\) and a 3D vector \(\left(q_1,q_2,q_3\right)\) < br / > < / td > < / tr >
< tr class = "separator:gaacd70a16b61dd47a19eb5fb729c2669b" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
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< tr class = "memitem:ga8cc5e5b7a5fa492423ecf034c8bb52bd" > < td class = "memItemLeft" align = "right" valign = "top" > < a id = "ga8cc5e5b7a5fa492423ecf034c8bb52bd" name = "ga8cc5e5b7a5fa492423ecf034c8bb52bd" > < / a >
typedef struct < a class = "el" href = "../../d2/de8/structeuler__.html" > euler_< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < b > euler< / b > < / td > < / tr >
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< tr class = "memdesc:ga8cc5e5b7a5fa492423ecf034c8bb52bd" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > 3D Euler or Tait-Bryan angles (in radian) < br / > < / td > < / tr >
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Functions< / h2 > < / td > < / tr >
< tr class = "memitem:ga4779f448daaf806ce5e750c13b3e0965" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga4779f448daaf806ce5e750c13b3e0965" > quat_from_euler< / a > (const < a class = "el" href = "../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd" > euler< / a > *in_euler)< / td > < / tr >
< tr class = "memdesc:ga4779f448daaf806ce5e750c13b3e0965" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Function to convert given Euler angles to a quaternion. < a href = "../../dc/d9a/group__quats.html#ga4779f448daaf806ce5e750c13b3e0965" > More...< / a > < br / > < / td > < / tr >
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< tr class = "memitem:ga1afd165100e9b02b86e3bd11b50f3b06" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd" > euler< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga1afd165100e9b02b86e3bd11b50f3b06" > euler_from_quat< / a > (const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *in_quat)< / td > < / tr >
< tr class = "memdesc:ga1afd165100e9b02b86e3bd11b50f3b06" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Function to convert given quaternion to Euler angles. < a href = "../../dc/d9a/group__quats.html#ga1afd165100e9b02b86e3bd11b50f3b06" > More...< / a > < br / > < / td > < / tr >
< tr class = "separator:ga1afd165100e9b02b86e3bd11b50f3b06" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:gaf5ad0f9c4f0facc5a9c3735a178156b1" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaf5ad0f9c4f0facc5a9c3735a178156b1" > quaternion_multiply< / a > (const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *in_quat1, const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *in_quat2)< / td > < / tr >
< tr class = "memdesc:gaf5ad0f9c4f0facc5a9c3735a178156b1" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Function to multiply two quaternions. < a href = "../../dc/d9a/group__quats.html#gaf5ad0f9c4f0facc5a9c3735a178156b1" > More...< / a > < br / > < / td > < / tr >
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< a name = "details" id = "details" > < / a > < h2 class = "groupheader" > Detailed Description< / h2 >
< h2 class = "groupheader" > Function Documentation< / h2 >
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< a id = "ga1afd165100e9b02b86e3bd11b50f3b06" name = "ga1afd165100e9b02b86e3bd11b50f3b06" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga1afd165100e9b02b86e3bd11b50f3b06" > ◆ < / a > < / span > euler_from_quat()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd" > euler< / a > euler_from_quat < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *  < / td >
< td class = "paramname" > < em > in_quat< / em > < / td > < td > )< / td >
< td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Function to convert given quaternion to Euler angles. < / p >
< p class = "formulaDsp" >
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\begin{eqnarray*}
\phi & = &
\tan^{-1}\left[\frac{2\left(q_0q_1+q_2q_3\right)}{1-2\left(q_1^2+q_2^2\right)}\right]\\
\theta & =
& -\sin^{-1}\left[2\left(q_0q_2-q_3q_1\right)\right]\\
\psi & = &
\tan^{-1}\left[\frac{2\left(q_0q_3+q_1q_2\right)}{1-2\left(q_2^2+q_3^2\right)}\right]\\
\end{eqnarray*}
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< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > in_quat< / td > < td > input quaternion instance < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > converted euler angles < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < span class = "lineno" > 89< / span > {< / div >
< div class = "line" > < span class = "lineno" > 90< / span > < a class = "code hl_struct" href = "../../d2/de8/structeuler__.html" > euler< / a > out_euler;< / div >
< div class = "line" > < span class = "lineno" > 91< / span > < span class = "keywordflow" > if< / span > (!in_quat) < span class = "comment" > // if null< / span > < / div >
< div class = "line" > < span class = "lineno" > 92< / span > {< / div >
< div class = "line" > < span class = "lineno" > 93< / span > fprintf(stderr, < span class = "stringliteral" > " %s: Invalid input." < / span > , __func__);< / div >
< div class = "line" > < span class = "lineno" > 94< / span > < span class = "keywordflow" > return< / span > out_euler;< / div >
< div class = "line" > < span class = "lineno" > 95< / span > }< / div >
< div class = "line" > < span class = "lineno" > 96< / span > < / div >
< div class = "line" > < span class = "lineno" > 97< / span > out_euler.< a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#a3f1b77e489be443a8d84a84082b8092e" > roll< / a > = atan2f(< / div >
< div class = "line" > < span class = "lineno" > 98< / span > 2.f * (in_quat-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat-> q1 + in_quat-> q2 * in_quat-> q3),< / div >
< div class = "line" > < span class = "lineno" > 99< / span > 1.f - 2.f * (in_quat-> q1 * in_quat-> q1 + in_quat-> q2 * in_quat-> q2));< / div >
< div class = "line" > < span class = "lineno" > 100< / span > out_euler.< a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aa71f9aa6dfa32d8014b2d54ab8410e0b" > pitch< / a > =< / div >
< div class = "line" > < span class = "lineno" > 101< / span > asinf(2.f * (in_quat-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat-> q2 + in_quat-> q1 * in_quat-> q3));< / div >
< div class = "line" > < span class = "lineno" > 102< / span > out_euler.< a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aad52507cc423ec49847471f6f15dd9d7" > yaw< / a > = atan2f(< / div >
< div class = "line" > < span class = "lineno" > 103< / span > 2.f * (in_quat-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat-> q3 + in_quat-> q1 * in_quat-> q2),< / div >
< div class = "line" > < span class = "lineno" > 104< / span > 1.f - 2.f * (in_quat-> q2 * in_quat-> q2 + in_quat-> q3 * in_quat-> q3));< / div >
< div class = "line" > < span class = "lineno" > 105< / span > < / div >
< div class = "line" > < span class = "lineno" > 106< / span > < span class = "keywordflow" > return< / span > out_euler;< / div >
< div class = "line" > < span class = "lineno" > 107< / span > }< / div >
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< div class = "ttc" id = "astructeuler___html" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html" > euler_< / a > < / div > < div class = "ttdoc" > 3D Euler or Tait-Bryan angles (in radian)< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:81< / div > < / div >
< div class = "ttc" id = "astructeuler___html_a3f1b77e489be443a8d84a84082b8092e" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html#a3f1b77e489be443a8d84a84082b8092e" > euler_::roll< / a > < / div > < div class = "ttdeci" > float roll< / div > < div class = "ttdoc" > or bank = rotation about X axis< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:84< / div > < / div >
< div class = "ttc" id = "astructeuler___html_aa71f9aa6dfa32d8014b2d54ab8410e0b" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html#aa71f9aa6dfa32d8014b2d54ab8410e0b" > euler_::pitch< / a > < / div > < div class = "ttdeci" > float pitch< / div > < div class = "ttdoc" > or elevation = rotation about Y axis< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:89< / div > < / div >
< div class = "ttc" id = "astructeuler___html_aad52507cc423ec49847471f6f15dd9d7" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html#aad52507cc423ec49847471f6f15dd9d7" > euler_::yaw< / a > < / div > < div class = "ttdeci" > float yaw< / div > < div class = "ttdoc" > or heading = rotation about Z axis< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:94< / div > < / div >
< div class = "ttc" id = "astructquaternion___html_a835e2ba72517fbb29d0d4e3cb4c2914f" > < div class = "ttname" > < a href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > quaternion_::w< / a > < / div > < div class = "ttdeci" > float w< / div > < div class = "ttdoc" > real part of quaternion< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:64< / div > < / div >
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< / div > <!-- fragment -->
< / div >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ga4779f448daaf806ce5e750c13b3e0965" > ◆ < / a > < / span > quat_from_euler()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > quat_from_euler < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd" > euler< / a > *  < / td >
< td class = "paramname" > < em > in_euler< / em > < / td > < td > )< / td >
< td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Function to convert given Euler angles to a quaternion. < / p >
< p class = "formulaDsp" >
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\begin{eqnarray*}
q_{0} & =
& \cos\left(\frac{\phi}{2}\right)\cos\left(\frac{\theta}{2}\right)\cos\left(\frac{\psi}{2}\right)
+
\sin\left(\frac{\phi}{2}\right)\sin\left(\frac{\theta}{2}\right)\sin\left(\frac{\psi}{2}\right)\\
q_{1} & =
& \sin\left(\frac{\phi}{2}\right)\cos\left(\frac{\theta}{2}\right)\cos\left(\frac{\psi}{2}\right)
-
\cos\left(\frac{\phi}{2}\right)\sin\left(\frac{\theta}{2}\right)\sin\left(\frac{\psi}{2}\right)\\
q_{2} & =
& \cos\left(\frac{\phi}{2}\right)\sin\left(\frac{\theta}{2}\right)\cos\left(\frac{\psi}{2}\right)
+
\sin\left(\frac{\phi}{2}\right)\cos\left(\frac{\theta}{2}\right)\sin\left(\frac{\psi}{2}\right)\\
q_{3} & =
& \cos\left(\frac{\phi}{2}\right)\cos\left(\frac{\theta}{2}\right)\sin\left(\frac{\psi}{2}\right)
-
\sin\left(\frac{\phi}{2}\right)\sin\left(\frac{\theta}{2}\right)\cos\left(\frac{\psi}{2}\right)\\
\end{eqnarray*}
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< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > in_euler< / td > < td > input Euler angles instance < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > converted quaternion < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < span class = "lineno" > 48< / span > {< / div >
< div class = "line" > < span class = "lineno" > 49< / span > < a class = "code hl_struct" href = "../../de/d58/structquaternion__.html" > quaternion< / a > out_quat;< / div >
< div class = "line" > < span class = "lineno" > 50< / span > < / div >
< div class = "line" > < span class = "lineno" > 51< / span > < span class = "keywordflow" > if< / span > (!in_euler) < span class = "comment" > // if null< / span > < / div >
< div class = "line" > < span class = "lineno" > 52< / span > {< / div >
< div class = "line" > < span class = "lineno" > 53< / span > fprintf(stderr, < span class = "stringliteral" > " %s: Invalid input." < / span > , __func__);< / div >
< div class = "line" > < span class = "lineno" > 54< / span > < span class = "keywordflow" > return< / span > out_quat;< / div >
< div class = "line" > < span class = "lineno" > 55< / span > }< / div >
< div class = "line" > < span class = "lineno" > 56< / span > < / div >
< div class = "line" > < span class = "lineno" > 57< / span > < a class = "code hl_struct" href = "../../de/d58/structquaternion__.html" > quaternion< / a > temp;< / div >
< div class = "line" > < span class = "lineno" > 58< / span > < / div >
< div class = "line" > < span class = "lineno" > 59< / span > < span class = "keywordtype" > float< / span > cy = cosf(in_euler-> < a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aad52507cc423ec49847471f6f15dd9d7" > yaw< / a > * 0.5f);< / div >
< div class = "line" > < span class = "lineno" > 60< / span > < span class = "keywordtype" > float< / span > sy = sinf(in_euler-> < a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aad52507cc423ec49847471f6f15dd9d7" > yaw< / a > * 0.5f);< / div >
< div class = "line" > < span class = "lineno" > 61< / span > < span class = "keywordtype" > float< / span > cp = cosf(in_euler-> < a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aa71f9aa6dfa32d8014b2d54ab8410e0b" > pitch< / a > * 0.5f);< / div >
< div class = "line" > < span class = "lineno" > 62< / span > < span class = "keywordtype" > float< / span > sp = sinf(in_euler-> < a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aa71f9aa6dfa32d8014b2d54ab8410e0b" > pitch< / a > * 0.5f);< / div >
< div class = "line" > < span class = "lineno" > 63< / span > < span class = "keywordtype" > float< / span > cr = cosf(in_euler-> < a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#a3f1b77e489be443a8d84a84082b8092e" > roll< / a > * 0.5f);< / div >
< div class = "line" > < span class = "lineno" > 64< / span > < span class = "keywordtype" > float< / span > sr = sinf(in_euler-> < a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#a3f1b77e489be443a8d84a84082b8092e" > roll< / a > * 0.5f);< / div >
< div class = "line" > < span class = "lineno" > 65< / span > < / div >
< div class = "line" > < span class = "lineno" > 66< / span > temp.w = cr * cp * cy + sr * sp * sy;< / div >
< div class = "line" > < span class = "lineno" > 67< / span > temp.q1 = sr * cp * cy - cr * sp * sy;< / div >
< div class = "line" > < span class = "lineno" > 68< / span > temp.q2 = cr * sp * cy + sr * cp * sy;< / div >
< div class = "line" > < span class = "lineno" > 69< / span > temp.q3 = cr * cp * sy - sr * sp * cy;< / div >
< div class = "line" > < span class = "lineno" > 70< / span > < / div >
< div class = "line" > < span class = "lineno" > 71< / span > < span class = "keywordflow" > return< / span > temp;< / div >
< div class = "line" > < span class = "lineno" > 72< / span > }< / div >
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< div class = "ttc" id = "astructquaternion___html" > < div class = "ttname" > < a href = "../../de/d58/structquaternion__.html" > quaternion_< / a > < / div > < div class = "ttdoc" > a Quaternion type represented using a scalar or and a 3D vector< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:61< / div > < / div >
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< a id = "gaf5ad0f9c4f0facc5a9c3735a178156b1" name = "gaf5ad0f9c4f0facc5a9c3735a178156b1" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#gaf5ad0f9c4f0facc5a9c3735a178156b1" > ◆ < / a > < / span > quaternion_multiply()< / h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > quaternion_multiply < / td >
< td > (< / td >
< td class = "paramtype" > const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *  < / td >
< td class = "paramname" > < em > in_quat1< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *  < / td >
< td class = "paramname" > < em > in_quat2< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
< / div > < div class = "memdoc" >
< p > Function to multiply two quaternions. < / p >
< p class = "formulaDsp" >
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\begin{eqnarray*}
\mathbf{c} & = & \mathbf{a}\otimes\mathbf{b}\\
& = & \begin{bmatrix}a_{0} & a_{1} & a_{2} &
a_{3}\end{bmatrix}\otimes\begin{bmatrix}b_{0} & b_{1} & b_{2} &
b_{3}\end{bmatrix}\\
& = &
\begin{bmatrix}
a_{0}b_{0}-a_{1}b_{1}-a_{2}b_{2}-a_{3}b_{3}\\
a_{0}b_{1}+a_{1}b_{0}+a_{2}b_{3}-a_{3}b_{2}\\
a_{0}b_{2}-a_{1}b_{3}+a_{2}b_{0}+a_{3}b_{1}\\
a_{0}b_{3}+a_{1}b_{2}-a_{2}b_{1}+a_{3}b_{0}
\end{bmatrix}^{T}
\end{eqnarray*}
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< / p >
< dl class = "params" > < dt > Parameters< / dt > < dd >
< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > in_quat1< / td > < td > first input quaternion instance < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > in_quat2< / td > < td > second input quaternion instance < / td > < / tr >
< / table >
< / dd >
< / dl >
< dl class = "section return" > < dt > Returns< / dt > < dd > resultant quaternion < / dd > < / dl >
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< div class = "fragment" > < div class = "line" > < span class = "lineno" > 131< / span > {< / div >
< div class = "line" > < span class = "lineno" > 132< / span > < a class = "code hl_struct" href = "../../de/d58/structquaternion__.html" > quaternion< / a > out_quat;< / div >
< div class = "line" > < span class = "lineno" > 133< / span > < span class = "keywordflow" > if< / span > (!in_quat1 || !in_quat2) < span class = "comment" > // if null< / span > < / div >
< div class = "line" > < span class = "lineno" > 134< / span > {< / div >
< div class = "line" > < span class = "lineno" > 135< / span > fprintf(stderr, < span class = "stringliteral" > " %s: Invalid input." < / span > , __func__);< / div >
< div class = "line" > < span class = "lineno" > 136< / span > < span class = "keywordflow" > return< / span > out_quat;< / div >
< div class = "line" > < span class = "lineno" > 137< / span > }< / div >
< div class = "line" > < span class = "lineno" > 138< / span > < / div >
< div class = "line" > < span class = "lineno" > 139< / span > out_quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > = in_quat1-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat2-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > - in_quat1-> q1 * in_quat2-> q1 -< / div >
< div class = "line" > < span class = "lineno" > 140< / span > in_quat1-> q2 * in_quat2-> q2 - in_quat1-> q3 * in_quat2-> q3;< / div >
< div class = "line" > < span class = "lineno" > 141< / span > out_quat.q1 = in_quat1-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat2-> q1 + in_quat1-> q1 * in_quat2-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > +< / div >
< div class = "line" > < span class = "lineno" > 142< / span > in_quat1-> q2 * in_quat2-> q3 - in_quat1-> q3 * in_quat2-> q2;< / div >
< div class = "line" > < span class = "lineno" > 143< / span > out_quat.q2 = in_quat1-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat2-> q2 - in_quat1-> q1 * in_quat2-> q3 +< / div >
< div class = "line" > < span class = "lineno" > 144< / span > in_quat1-> q2 * in_quat2-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > + in_quat1-> q3 * in_quat2-> q1;< / div >
< div class = "line" > < span class = "lineno" > 145< / span > out_quat.q3 = in_quat1-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > * in_quat2-> q3 + in_quat1-> q1 * in_quat2-> q2 -< / div >
< div class = "line" > < span class = "lineno" > 146< / span > in_quat1-> q2 * in_quat2-> q1 + in_quat1-> q3 * in_quat2-> < a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > ;< / div >
< div class = "line" > < span class = "lineno" > 147< / span > < / div >
< div class = "line" > < span class = "lineno" > 148< / span > < span class = "keywordflow" > return< / span > out_quat;< / div >
< div class = "line" > < span class = "lineno" > 149< / span > }< / div >
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