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<a href="#nested-classes">Data Structures</a> &#124;
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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 &amp; 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 &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d58/structquaternion__.html">quaternion_</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/de8/structeuler__.html">euler_</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</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>&#160;</td><td class="memItemRight" valign="bottom"><b>quaternion</b></td></tr>
<tr class="memdesc:gaacd70a16b61dd47a19eb5fb729c2669b"><td class="mdescLeft">&#160;</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>
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typedef struct <a class="el" href="../../d2/de8/structeuler__.html">euler_</a>&#160;</td><td class="memItemRight" valign="bottom"><b>euler</b></td></tr>
<tr class="memdesc:ga8cc5e5b7a5fa492423ecf034c8bb52bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">3D Euler or Tait-Bryan angles (in radian) <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
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>&#160;</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">&#160;</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>
<tr class="separator:ga4779f448daaf806ce5e750c13b3e0965"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga1afd165100e9b02b86e3bd11b50f3b06"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd">euler</a>&#160;</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">&#160;</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">&#160;</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>&#160;</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">&#160;</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>
<a id="ga1afd165100e9b02b86e3bd11b50f3b06" name="ga1afd165100e9b02b86e3bd11b50f3b06"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga1afd165100e9b02b86e3bd11b50f3b06">&#9670;&#160;</a></span>euler_from_quat()</h2>
<div class="memitem">
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<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> *&#160;</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">
\begin{eqnarray*}
\phi &amp; = &amp;
\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 &amp; =
&amp;-\sin^{-1}\left[2\left(q_0q_2-q_3q_1\right)\right]\\
\psi &amp; = &amp;
\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*}
</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>
<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">&quot;%s: Invalid input.&quot;</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-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat-&gt;q1 + in_quat-&gt;q2 * in_quat-&gt;q3),</div>
<div class="line"><span class="lineno"> 99</span> 1.f - 2.f * (in_quat-&gt;q1 * in_quat-&gt;q1 + in_quat-&gt;q2 * in_quat-&gt;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-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat-&gt;q2 + in_quat-&gt;q1 * in_quat-&gt;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-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat-&gt;q3 + in_quat-&gt;q1 * in_quat-&gt;q2),</div>
<div class="line"><span class="lineno"> 104</span> 1.f - 2.f * (in_quat-&gt;q2 * in_quat-&gt;q2 + in_quat-&gt;q3 * in_quat-&gt;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>
<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>
</div><!-- fragment -->
</div>
</div>
<a id="ga4779f448daaf806ce5e750c13b3e0965" name="ga4779f448daaf806ce5e750c13b3e0965"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga4779f448daaf806ce5e750c13b3e0965">&#9670;&#160;</a></span>quat_from_euler()</h2>
<div class="memitem">
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<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> *&#160;</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">
\begin{eqnarray*}
q_{0} &amp; =
&amp;\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} &amp; =
&amp;\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} &amp; =
&amp;\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} &amp; =
&amp;\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*}
</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>
<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">&quot;%s: Invalid input.&quot;</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-&gt;<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-&gt;<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-&gt;<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-&gt;<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-&gt;<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-&gt;<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>
<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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<h2 class="memtitle"><span class="permalink"><a href="#gaf5ad0f9c4f0facc5a9c3735a178156b1">&#9670;&#160;</a></span>quaternion_multiply()</h2>
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<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> *&#160;</td>
<td class="paramname"><em>in_quat1</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b">quaternion</a> *&#160;</td>
<td class="paramname"><em>in_quat2</em>&#160;</td>
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<p>Function to multiply two quaternions. </p>
<p class="formulaDsp">
\begin{eqnarray*}
\mathbf{c} &amp; = &amp; \mathbf{a}\otimes\mathbf{b}\\
&amp; = &amp; \begin{bmatrix}a_{0} &amp; a_{1} &amp; a_{2} &amp;
a_{3}\end{bmatrix}\otimes\begin{bmatrix}b_{0} &amp; b_{1} &amp; b_{2} &amp;
b_{3}\end{bmatrix}\\
&amp; = &amp;
\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*}
</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>
<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">&quot;%s: Invalid input.&quot;</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-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat2-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> - in_quat1-&gt;q1 * in_quat2-&gt;q1 -</div>
<div class="line"><span class="lineno"> 140</span> in_quat1-&gt;q2 * in_quat2-&gt;q2 - in_quat1-&gt;q3 * in_quat2-&gt;q3;</div>
<div class="line"><span class="lineno"> 141</span> out_quat.q1 = in_quat1-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat2-&gt;q1 + in_quat1-&gt;q1 * in_quat2-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> +</div>
<div class="line"><span class="lineno"> 142</span> in_quat1-&gt;q2 * in_quat2-&gt;q3 - in_quat1-&gt;q3 * in_quat2-&gt;q2;</div>
<div class="line"><span class="lineno"> 143</span> out_quat.q2 = in_quat1-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat2-&gt;q2 - in_quat1-&gt;q1 * in_quat2-&gt;q3 +</div>
<div class="line"><span class="lineno"> 144</span> in_quat1-&gt;q2 * in_quat2-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> + in_quat1-&gt;q3 * in_quat2-&gt;q1;</div>
<div class="line"><span class="lineno"> 145</span> out_quat.q3 = in_quat1-&gt;<a class="code hl_variable" href="../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f">w</a> * in_quat2-&gt;q3 + in_quat1-&gt;q1 * in_quat2-&gt;q2 -</div>
<div class="line"><span class="lineno"> 146</span> in_quat1-&gt;q2 * in_quat2-&gt;q1 + in_quat1-&gt;q3 * in_quat2-&gt;<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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