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authorneodarz <neodarz@neodarz.net>2018-08-11 20:21:34 +0200
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+<h1>NLMISC::CQuatT&lt; T &gt; Class Template Reference</h1><code>#include &lt;<a class="el" href="a06308.html">quat.h</a>&gt;</code>
+<p>
+<hr><a name="_details"></a><h2>Detailed Description</h2>
+<h3>template&lt;class T&gt;<br>
+ class NLMISC::CQuatT&lt; T &gt;</h3>
+
+A Template quaternion. Use <a class="el" href="a03296.html">CQuat</a> and <a class="el" href="a03298.html">CQuatD</a>. <dl compact><dt><b>Author:</b></dt><dd>Antoine Viau. <p>
+Nevrax France </dd></dl>
+<dl compact><dt><b>Date:</b></dt><dd>2000 </dd></dl>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00074">74</a> of file <a class="el" href="a06308.html">quat.h</a>.<table border=0 cellpadding=0 cellspacing=0>
+<tr><td></td></tr>
+<tr><td colspan=2><br><h2>Public Member Functions</h2></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Basic Quaternions operations.</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2008_0">conjugate</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the conjugate of this quaternion. <a href="#NLMISC_1_1CQuatTz2008_0"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2008_1">invert</a> ()</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Invert this quaternion. If normalized, conjugate is faster and does same thing. <a href="#NLMISC_1_1CQuatTz2008_1"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2008_2">inverted</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the quaternion inverted. <a href="#NLMISC_1_1CQuatTz2008_2"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2008_3">operator *</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;) const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Quaternion multiplication/composition. <a href="#NLMISC_1_1CQuatTz2008_3"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a> &amp;&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2008_4">operator *=</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the conjugate of this quaternion. <a href="#NLMISC_1_1CQuatTz2008_4"></a><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Object</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2000_0">CQuatT</a> (const <a class="el" href="a02195.html">CAngleAxis</a> &amp;aa)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ctor of a UNIT quaternion, from an angle axis. <a href="#NLMISC_1_1CQuatTz2000_0"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2000_1">CQuatT</a> (const <a class="el" href="a03128.html">CVector</a> &amp;axis, float angle)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ctor of a UNIT quaternion, from an angle axis. <a href="#NLMISC_1_1CQuatTz2000_1"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2000_2">CQuatT</a> (T X, T Y, T Z, T W)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ctor of a UNIT quaternion, from an angle axis. <a href="#NLMISC_1_1CQuatTz2000_2"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a> ()</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ctor of a UNIT quaternion, from an angle axis. <a href="#NLMISC_1_1CQuatTz2000_3"></a><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Comparison</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>bool&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2004_0">equal</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;a, float epsilon=1E-6f) const </td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2004_1">identity</a> ()</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>bool&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2004_2">isIdentity</a> () const </td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>bool&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2004_3">operator==</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;a) const </td></tr>
+
+<tr><td colspan="2"><div class="groupHeader">Misc.</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2012_0">exp</a> ()</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">compute quaternion exponent. <a href="#NLMISC_1_1CQuatTz2012_0"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2012_1">log</a> ()</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">compute logn quaternion. <a href="#NLMISC_1_1CQuatTz2012_1"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2012_2">makeClosest</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;o)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ensure that *this and q are on same side of hypersphere, ie dotProduct(*this,q) is &gt;0, modifying this if necessary. <a href="#NLMISC_1_1CQuatTz2012_2"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2012_3">serial</a> (<a class="el" href="a02270.html">IStream</a> &amp;f)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">serial. <a href="#NLMISC_1_1CQuatTz2012_3"></a><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">To/From other orientation.</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>float&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2010_0">getAngle</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the equivalent angle of this quaternion. (in radian). <a href="#NLMISC_1_1CQuatTz2010_0"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a02195.html">CAngleAxis</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2010_1">getAngleAxis</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the equivalent Unit AngleAxis of this quaternion. <a href="#NLMISC_1_1CQuatTz2010_1"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03128.html">CVector</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2010_2">getAxis</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the equivalent Unit axis of this quaternion. <a href="#NLMISC_1_1CQuatTz2010_2"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2010_3">setAngleAxis</a> (const <a class="el" href="a02195.html">CAngleAxis</a> &amp;angAxis)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Build a UNIT quaternion from an AngleAxis. <a href="#NLMISC_1_1CQuatTz2010_3"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2010_4">setAngleAxis</a> (const <a class="el" href="a03128.html">CVector</a> &amp;axis, float angle)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Build a UNIT quaternion from an AngleAxis. <a href="#NLMISC_1_1CQuatTz2010_4"></a><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">4D vector operations.</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_0">norm</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_0"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_1">normalize</a> ()</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Normalize the quaternion. <a href="#NLMISC_1_1CQuatTz2006_1"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_2">normed</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the quaternion normalized. <a href="#NLMISC_1_1CQuatTz2006_2"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_3">operator *</a> (T f) const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_3"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a> &amp;&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_4">operator *=</a> (T f)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_4"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_5">operator+</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_5"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_6">operator+</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;o) const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_6"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a> &amp;&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_7">operator+=</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;o)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_7"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_8">operator-</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_8"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_9">operator-</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;o) const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_9"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a> &amp;&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_10">operator-=</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;o)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_10"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_11">operator/</a> (T f) const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_11"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a> &amp;&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_12">operator/=</a> (T f)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_12"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2006_13">sqrnorm</a> () const </td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">return the square of the norm of the 4D vector. <a href="#NLMISC_1_1CQuatTz2006_13"></a><br><br></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Sets.</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>void&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2002_0">set</a> (T X, T Y, T Z, T W)</td></tr>
+
+<tr><td colspan=2><br><h2>Static Public Member Functions</h2></td></tr>
+<tr><td colspan="2"><div class="groupHeader">Quaternions static functions.</div></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2014_0">dotProduct</a> (const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q0, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q1)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the dotProduct of 2 quaternions. <a href="#NLMISC_1_1CQuatTz2014_0"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2014_1">lnDif</a> (const <a class="el" href="a03297.html">CQuatT</a> &amp;q0, const <a class="el" href="a03297.html">CQuatT</a> &amp;q1)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">compute lnDiff of q0.inverted()*q1. <a href="#NLMISC_1_1CQuatTz2014_1"></a><br><br></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2014_2">slerp</a> (const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q0, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q1, float <a class="el" href="a04223.html#a627">t</a>)</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2014_3">squad</a> (const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q0, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;tgtQ0, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;tgtQ1, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q1, float <a class="el" href="a04223.html#a627">t</a>)</td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="a03297.html">CQuatT</a>&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTz2014_4">squadrev</a> (const <a class="el" href="a02195.html">CAngleAxis</a> &amp;rot, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q0, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;tgtQ0, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;tgtQ1, const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;q1, float <a class="el" href="a04223.html#a627">t</a>)</td></tr>
+
+<tr><td colspan=2><br><h2>Data Fields</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTo0">w</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTo1">x</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTo2">y</a></td></tr>
+
+<tr><td class="memItemLeft" nowrap align=right valign=top>T&nbsp;</td><td class="memItemRight" valign=bottom><a class="el" href="a03297.html#NLMISC_1_1CQuatTo3">z</a></td></tr>
+
+</table>
+<hr><h2>Constructor &amp; Destructor Documentation</h2>
+<a class="anchor" name="NLMISC_1_1CQuatTz2000_3" doxytag="NLMISC::CQuatT::CQuatT" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a03297.html">CQuatT</a> </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+ctor of a UNIT quaternion, from an angle axis.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00084">84</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00139">NLMISC::CQuatT&lt; float &gt;::conjugate()</a>, <a class="el" href="a06308.html#l00114">NLMISC::CQuatT&lt; float &gt;::operator *()</a>, <a class="el" href="a06308.html#l00112">NLMISC::CQuatT&lt; float &gt;::operator+()</a>, <a class="el" href="a06308.html#l00113">NLMISC::CQuatT&lt; float &gt;::operator-()</a>, and <a class="el" href="a06308.html#l00115">NLMISC::CQuatT&lt; float &gt;::operator/()</a>.
+<p>
+<div class="fragment"><pre>00084 : <a class="code" href="a03297.html#NLMISC_1_1CQuatTo1">x</a>((T)0.0),<a class="code" href="a03297.html#NLMISC_1_1CQuatTo2">y</a>((T)0.0),<a class="code" href="a03297.html#NLMISC_1_1CQuatTo3">z</a>((T)0.0),<a class="code" href="a03297.html#NLMISC_1_1CQuatTo0">w</a>((T)1.0) {}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2000_2" doxytag="NLMISC::CQuatT::CQuatT" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a03297.html">CQuatT</a> </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">T&nbsp;</td>
+ <td class="mdname" nowrap> <em>X</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>T&nbsp;</td>
+ <td class="mdname" nowrap> <em>Y</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>T&nbsp;</td>
+ <td class="mdname" nowrap> <em>Z</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>T&nbsp;</td>
+ <td class="mdname" nowrap> <em>W</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+ctor of a UNIT quaternion, from an angle axis.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00085">85</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00085 : <a class="code" href="a03297.html#NLMISC_1_1CQuatTo1">x</a>(X), <a class="code" href="a03297.html#NLMISC_1_1CQuatTo2">y</a>(Y), <a class="code" href="a03297.html#NLMISC_1_1CQuatTo3">z</a>(Z), <a class="code" href="a03297.html#NLMISC_1_1CQuatTo0">w</a>(W) {}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2000_1" doxytag="NLMISC::CQuatT::CQuatT" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a03297.html">CQuatT</a> </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03128.html">CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>axis</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>angle</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+ctor of a UNIT quaternion, from an angle axis.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00087">87</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00087 {<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2010_4">setAngleAxis</a>(axis, angle);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2000_0" doxytag="NLMISC::CQuatT::CQuatT" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a03297.html">CQuatT</a> </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a02195.html">CAngleAxis</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>aa</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+ctor of a UNIT quaternion, from an angle axis.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00089">89</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00089 {<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2010_4">setAngleAxis</a>(aa);}
+</pre></div> </td>
+ </tr>
+</table>
+<hr><h2>Member Function Documentation</h2>
+<a class="anchor" name="NLMISC_1_1CQuatTz2008_0" doxytag="NLMISC::CQuatT::conjugate" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::conjugate </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the conjugate of this quaternion.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00139">139</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00265">NLMISC::CQuatT&lt; T &gt;::invert()</a>.
+<p>
+<div class="fragment"><pre>00139 {<span class="keywordflow">return</span> <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a>(-<a class="code" href="a04223.html#a572">x</a>, -<a class="code" href="a04223.html#a573">y</a>, -<a class="code" href="a04223.html#a574">z</a>, <a class="code" href="a04223.html#a575">w</a>);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2014_0" doxytag="NLMISC::CQuatT::dotProduct" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::dotProduct </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q1</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [static]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Return the dotProduct of 2 quaternions.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00309">309</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::w</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::x</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::y</a>, and <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::z</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00473">NLMISC::CQuatT&lt; T &gt;::makeClosest()</a>.
+<p>
+<div class="fragment"><pre>00310 {
+00311 <span class="keywordflow">return</span> q0.x*q1.x + q0.y*q1.y + q0.z*q1.z + q0.w*q1.w;
+00312 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2004_0" doxytag="NLMISC::CQuatT::equal" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> bool <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::equal </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>a</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>epsilon</em> = 1E-6f</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00227">227</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::w</a>, <a class="el" href="a05646.html#l00236">w</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::x</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::y</a>, <a class="el" href="a05646.html#l00236">y</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::z</a>, and <a class="el" href="a05646.html#l00236">z</a>.
+<p>
+<div class="fragment"><pre>00228 {
+00229 <span class="keywordflow">if</span> (fabs(<a class="code" href="a04223.html#a572">x</a>-a.x)&lt;epsilon &amp;&amp;
+00230 fabs(<a class="code" href="a04223.html#a573">y</a>-a.y)&lt;epsilon &amp;&amp;
+00231 fabs(<a class="code" href="a04223.html#a574">z</a>-a.z)&lt;epsilon &amp;&amp;
+00232 fabs(<a class="code" href="a04223.html#a575">w</a>-a.w)&lt;epsilon )
+00233 {
+00234 <span class="keywordflow">return</span> <span class="keyword">true</span>;
+00235 }
+00236 <span class="keywordflow">return</span> <span class="keyword">false</span>;
+00237 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2012_0" doxytag="NLMISC::CQuatT::exp" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::exp </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+compute quaternion exponent.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00445">445</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a05646.html#l00235">len</a>, <a class="el" href="a06308.html#l00039">NLMISC::QuatEpsilon</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a05646.html#l00236">y</a>, and <a class="el" href="a05646.html#l00236">z</a>.
+<p>
+<div class="fragment"><pre>00446 {
+00447 <span class="keywordtype">double</span> <a class="code" href="a04223.html#a571">len</a>;
+00448 <a class="code" href="a04223.html#a571">len</a> = sqrt (<a class="code" href="a04223.html#a572">x</a>*<a class="code" href="a04223.html#a572">x</a> + <a class="code" href="a04223.html#a573">y</a>*<a class="code" href="a04223.html#a573">y</a> + <a class="code" href="a04223.html#a574">z</a>*<a class="code" href="a04223.html#a574">z</a>);
+00449
+00450 <span class="keywordflow">if</span> (<a class="code" href="a04223.html#a571">len</a> &lt; <a class="code" href="a05378.html#a227">QuatEpsilon</a>)
+00451 <span class="keywordflow">return</span> CQuatT&lt;T&gt;(0.f, 0.f, 0.f, 1.f);
+00452 <span class="keywordflow">else</span>
+00453 {
+00454 <span class="keywordtype">double</span> len1 = sin(len) / <a class="code" href="a04223.html#a571">len</a>;
+00455 <span class="keywordflow">return</span> CQuatT&lt;T&gt;( (T)(<a class="code" href="a04223.html#a572">x</a>*len1), (T)(<a class="code" href="a04223.html#a573">y</a>*len1), (T)(<a class="code" href="a04223.html#a574">z</a>*len1), (T)cos(len));
+00456 }
+00457 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2010_0" doxytag="NLMISC::CQuatT::getAngle" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> float <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::getAngle </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Return the equivalent angle of this quaternion. (in radian).
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00148">148</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00150">NLMISC::CQuatT&lt; float &gt;::getAngleAxis()</a>.
+<p>
+<div class="fragment"><pre>00148 {<span class="keywordflow">return</span> (<span class="keywordtype">float</span>)(2*acos(<a class="code" href="a04223.html#a575">w</a>/<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2006_0">norm</a>()));}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2010_1" doxytag="NLMISC::CQuatT::getAngleAxis" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a02195.html">CAngleAxis</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::getAngleAxis </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Return the equivalent Unit AngleAxis of this quaternion.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00150">150</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00150 {<span class="keywordflow">return</span> CAngleAxis(<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2010_2">getAxis</a>(), <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2010_0">getAngle</a>());}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2010_2" doxytag="NLMISC::CQuatT::getAxis" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03128.html">CVector</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::getAxis </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">void&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Return the equivalent Unit axis of this quaternion.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00146">146</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00150">NLMISC::CQuatT&lt; float &gt;::getAngleAxis()</a>.
+<p>
+<div class="fragment"><pre>00146 {CVector ret((<span class="keywordtype">float</span>)<a class="code" href="a04223.html#a572">x</a>,(<span class="keywordtype">float</span>)<a class="code" href="a04223.html#a573">y</a>,(<span class="keywordtype">float</span>)<a class="code" href="a04223.html#a574">z</a>); <span class="keywordflow">return</span> ret.normed();}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2004_1" doxytag="NLMISC::CQuatT::identity" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::identity </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00102">102</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00280">NLMISC::CQuatT&lt; T &gt;::normalize()</a>.
+<p>
+<div class="fragment"><pre>00102 {<a class="code" href="a04223.html#a572">x</a> = <a class="code" href="a04223.html#a573">y</a> = <a class="code" href="a04223.html#a574">z</a> = 0.0f ; <a class="code" href="a04223.html#a575">w</a> = 1.0f; }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2008_1" doxytag="NLMISC::CQuatT::invert" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::invert </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Invert this quaternion. If normalized, conjugate is faster and does same thing.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00265">265</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00139">NLMISC::CQuatT&lt; T &gt;::conjugate()</a>, and <a class="el" href="a06308.html#l00119">NLMISC::CQuatT&lt; T &gt;::sqrnorm()</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00137">NLMISC::CQuatT&lt; float &gt;::inverted()</a>.
+<p>
+<div class="fragment"><pre>00266 {
+00267 <span class="comment">// Must invert the norm.</span>
+00268 T f= <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2006_13">sqrnorm</a>();
+00269 <span class="keywordflow">if</span>(f!=0)
+00270 {
+00271 *<span class="keyword">this</span>/=f;
+00272 }
+00273
+00274 *<span class="keyword">this</span>= <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2008_0">conjugate</a>();
+00275 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2008_2" doxytag="NLMISC::CQuatT::inverted" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::inverted </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the quaternion inverted.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00137">137</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00462">NLMISC::CQuatT&lt; T &gt;::lnDif()</a>.
+<p>
+<div class="fragment"><pre>00137 {<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a> ret= *<span class="keyword">this</span>; ret.invert(); <span class="keywordflow">return</span> ret;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2004_2" doxytag="NLMISC::CQuatT::isIdentity" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> bool <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::isIdentity </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00103">103</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00103 {<span class="keywordflow">return</span> (<a class="code" href="a04223.html#a572">x</a>==0.0f &amp;&amp; <a class="code" href="a04223.html#a573">y</a>==0.0f &amp;&amp; <a class="code" href="a04223.html#a574">z</a>==0.0f &amp;&amp; <a class="code" href="a04223.html#a575">w</a>==1.0f);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2014_1" doxytag="NLMISC::CQuatT::lnDif" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::lnDif </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q1</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [static]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+compute lnDiff of q0.inverted()*q1.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00462">462</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00137">NLMISC::CQuatT&lt; T &gt;::inverted()</a>, <a class="el" href="a06308.html#l00427">NLMISC::CQuatT&lt; T &gt;::log()</a>, and <a class="el" href="a06308.html#l00280">NLMISC::CQuatT&lt; T &gt;::normalize()</a>.
+<p>
+<div class="fragment"><pre>00463 {
+00464 CQuatT&lt;T&gt; dif = q0.inverted()*q1;
+00465 dif.normalize();
+00466
+00467 <span class="keywordflow">return</span> dif.log();
+00468 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2012_1" doxytag="NLMISC::CQuatT::log" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::log </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+compute logn quaternion.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00427">427</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a05646.html#l00235">len</a>, <a class="el" href="a06308.html#l00039">NLMISC::QuatEpsilon</a>, <a class="el" href="a05646.html#l00236">w</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a05646.html#l00236">y</a>, and <a class="el" href="a05646.html#l00236">z</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00462">NLMISC::CQuatT&lt; T &gt;::lnDif()</a>.
+<p>
+<div class="fragment"><pre>00428 {
+00429 <span class="keywordtype">double</span> <a class="code" href="a04223.html#a571">len</a>;
+00430 <a class="code" href="a04223.html#a571">len</a> = sqrt (<a class="code" href="a04223.html#a572">x</a>*<a class="code" href="a04223.html#a572">x</a> + <a class="code" href="a04223.html#a573">y</a>*<a class="code" href="a04223.html#a573">y</a> + <a class="code" href="a04223.html#a574">z</a>*<a class="code" href="a04223.html#a574">z</a>);
+00431
+00432 <span class="keywordflow">if</span> (<a class="code" href="a04223.html#a571">len</a> &lt; <a class="code" href="a05378.html#a227">QuatEpsilon</a>)
+00433 <span class="keywordflow">return</span> CQuatT&lt;T&gt;(0.f, 0.f, 0.f, 0.f);
+00434 <span class="keywordflow">else</span>
+00435 {
+00436 <span class="keywordtype">double</span> div = (<span class="keywordtype">float</span>) acos (<a class="code" href="a04223.html#a575">w</a>) / <a class="code" href="a04223.html#a571">len</a>;
+00437 <span class="keywordflow">return</span> CQuatT&lt;T&gt;( (T)(<a class="code" href="a04223.html#a572">x</a>*div), (T)(<a class="code" href="a04223.html#a573">y</a>*div), (T)(<a class="code" href="a04223.html#a574">z</a>*div), 0.f);
+00438 }
+00439
+00440 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2012_2" doxytag="NLMISC::CQuatT::makeClosest" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::makeClosest </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>o</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+ensure that *this and q are on same side of hypersphere, ie dotProduct(*this,q) is &gt;0, modifying this if necessary.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00473">473</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00309">NLMISC::CQuatT&lt; T &gt;::dotProduct()</a>.
+<p>
+<div class="fragment"><pre>00474 {
+00475 <span class="keywordflow">if</span>( <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2014_0">dotProduct</a>(*<span class="keyword">this</span>, o) &lt; 0 )
+00476 *<span class="keyword">this</span>= -(*this);
+00477 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_0" doxytag="NLMISC::CQuatT::norm" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::norm </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00121">121</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00148">NLMISC::CQuatT&lt; float &gt;::getAngle()</a>, and <a class="el" href="a06308.html#l00280">NLMISC::CQuatT&lt; T &gt;::normalize()</a>.
+<p>
+<div class="fragment"><pre>00121 {<span class="keywordflow">return</span> (T)sqrt(<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2006_13">sqrnorm</a>());}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_1" doxytag="NLMISC::CQuatT::normalize" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::normalize </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Normalize the quaternion.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00280">280</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00102">NLMISC::CQuatT&lt; T &gt;::identity()</a>, and <a class="el" href="a06308.html#l00121">NLMISC::CQuatT&lt; T &gt;::norm()</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00462">NLMISC::CQuatT&lt; T &gt;::lnDif()</a>, and <a class="el" href="a06308.html#l00125">NLMISC::CQuatT&lt; float &gt;::normed()</a>.
+<p>
+<div class="fragment"><pre>00281 {
+00282 T f= <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2006_0">norm</a>();
+00283 <span class="keywordflow">if</span>(f==0)
+00284 <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2004_1">identity</a>();
+00285 <span class="keywordflow">else</span>
+00286 {
+00287 *<span class="keyword">this</span>/=f;
+00288 }
+00289 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_2" doxytag="NLMISC::CQuatT::normed" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::normed </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Return the quaternion normalized.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00125">125</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00125 {<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a> ret= *<span class="keyword">this</span>; ret.normalize(); <span class="keywordflow">return</span> ret;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2008_3" doxytag="NLMISC::CQuatT::operator *" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator * </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Quaternion multiplication/composition.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00242">242</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::w</a>, <a class="el" href="a05646.html#l00236">w</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::x</a>, <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::y</a>, <a class="el" href="a05646.html#l00236">y</a>, <a class="el" href="a05646.html#l00236">z</a>, and <a class="el" href="a06308.html#l00077">NLMISC::CQuatT&lt; T &gt;::z</a>.
+<p>
+<div class="fragment"><pre>00243 {
+00244 <span class="comment">// wres= ww´ - v·v´</span>
+00245 <span class="comment">// vres= wv´ + w´v + v^v´ ] </span>
+00246 <span class="keywordflow">return</span> CQuatT&lt;T&gt;(
+00247 (<a class="code" href="a04223.html#a575">w</a>*o.x) +(<a class="code" href="a04223.html#a572">x</a>*o.w) + (<a class="code" href="a04223.html#a573">y</a>*o.z)-(<a class="code" href="a04223.html#a574">z</a>*o.y),
+00248 (<a class="code" href="a04223.html#a575">w</a>*o.y) +(<a class="code" href="a04223.html#a573">y</a>*o.w) + (<a class="code" href="a04223.html#a574">z</a>*o.x)-(<a class="code" href="a04223.html#a572">x</a>*o.z),
+00249 (<a class="code" href="a04223.html#a575">w</a>*o.z) +(<a class="code" href="a04223.html#a574">z</a>*o.w) + (<a class="code" href="a04223.html#a572">x</a>*o.y)-(<a class="code" href="a04223.html#a573">y</a>*o.x),
+00250 (<a class="code" href="a04223.html#a575">w</a>*o.w)-(<a class="code" href="a04223.html#a572">x</a>*o.x)-(<a class="code" href="a04223.html#a573">y</a>*o.y)-(<a class="code" href="a04223.html#a574">z</a>*o.z) );
+00251
+00252 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_3" doxytag="NLMISC::CQuatT::operator *" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator * </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">T&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>f</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00114">114</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00114 {<span class="keywordflow">return</span> <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a>(<a class="code" href="a04223.html#a572">x</a>*f,<a class="code" href="a04223.html#a573">y</a>*f,<a class="code" href="a04223.html#a574">z</a>*f,<a class="code" href="a04223.html#a575">w</a>*f);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2008_4" doxytag="NLMISC::CQuatT::operator *=" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator *= </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the conjugate of this quaternion.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00256">256</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00257 {
+00258 *<span class="keyword">this</span>= *<span class="keyword">this</span> * o;
+00259 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
+00260 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_4" doxytag="NLMISC::CQuatT::operator *=" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&amp; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator *= </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">T&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>f</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00110">110</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00110 {<a class="code" href="a04223.html#a572">x</a>*=f;<a class="code" href="a04223.html#a573">y</a>*=f;<a class="code" href="a04223.html#a574">z</a>*=f;<a class="code" href="a04223.html#a575">w</a>*=f; <span class="keywordflow">return</span> *<span class="keyword">this</span>;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_5" doxytag="NLMISC::CQuatT::operator+" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator+ </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00117">117</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00117 {<span class="keywordflow">return</span> *<span class="keyword">this</span>; }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_6" doxytag="NLMISC::CQuatT::operator+" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator+ </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>o</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00112">112</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00112 {<span class="keywordflow">return</span> <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a>(<a class="code" href="a04223.html#a572">x</a>+o.x,<a class="code" href="a04223.html#a573">y</a>+o.y,<a class="code" href="a04223.html#a574">z</a>+o.z,<a class="code" href="a04223.html#a575">w</a>+o.w);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_7" doxytag="NLMISC::CQuatT::operator+=" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&amp; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator+= </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>o</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00108">108</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00108 {<a class="code" href="a04223.html#a572">x</a>+=o.x; <a class="code" href="a04223.html#a573">y</a>+=o.y; <a class="code" href="a04223.html#a574">z</a>+=o.z; <a class="code" href="a04223.html#a575">w</a>+=o.w; <span class="keywordflow">return</span> *<span class="keyword">this</span>;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_8" doxytag="NLMISC::CQuatT::operator-" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator- </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00116">116</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00116 {<span class="keywordflow">return</span>(<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a>(-<a class="code" href="a04223.html#a572">x</a>,-<a class="code" href="a04223.html#a573">y</a>,-<a class="code" href="a04223.html#a574">z</a>,-<a class="code" href="a04223.html#a575">w</a>)); }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_9" doxytag="NLMISC::CQuatT::operator-" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator- </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>o</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00113">113</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00113 {<span class="keywordflow">return</span> <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a>(<a class="code" href="a04223.html#a572">x</a>-o.x,<a class="code" href="a04223.html#a573">y</a>-o.y,<a class="code" href="a04223.html#a574">z</a>-o.z,<a class="code" href="a04223.html#a575">w</a>-o.w);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_10" doxytag="NLMISC::CQuatT::operator-=" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&amp; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator-= </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>o</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00109">109</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00109 {<a class="code" href="a04223.html#a572">x</a>-=o.x; <a class="code" href="a04223.html#a573">y</a>-=o.y; <a class="code" href="a04223.html#a574">z</a>-=o.z; <a class="code" href="a04223.html#a575">w</a>-=o.w; <span class="keywordflow">return</span> *<span class="keyword">this</span>;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_11" doxytag="NLMISC::CQuatT::operator/" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a> <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator/ </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">T&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>f</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00115">115</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00115 {<span class="keywordtype">double</span> oof= 1.0/f; <span class="keywordflow">return</span> <a class="code" href="a03297.html#NLMISC_1_1CQuatTz2000_3">CQuatT</a>(<a class="code" href="a04223.html#a572">x</a>*oof,<a class="code" href="a04223.html#a573">y</a>*oof,<a class="code" href="a04223.html#a574">z</a>*oof,<a class="code" href="a04223.html#a575">w</a>*oof);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_12" doxytag="NLMISC::CQuatT::operator/=" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&amp; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator/= </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">T&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>f</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00111">111</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00111 {<span class="keywordtype">double</span> oof= 1.0/f; <a class="code" href="a04223.html#a572">x</a>=(T)(<a class="code" href="a04223.html#a572">x</a>*oof); <a class="code" href="a04223.html#a573">y</a>=(T)(<a class="code" href="a04223.html#a573">y</a>*oof); <a class="code" href="a04223.html#a574">z</a>= (T)(<a class="code" href="a04223.html#a574">z</a>*oof); <a class="code" href="a04223.html#a575">w</a>=(T)(<a class="code" href="a04223.html#a575">w</a>*oof); <span class="keywordflow">return</span> *<span class="keyword">this</span>;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2004_3" doxytag="NLMISC::CQuatT::operator==" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> bool <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::operator== </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>a</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00100">100</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00100 {<span class="keywordflow">return</span> (<a class="code" href="a04223.html#a572">x</a>==a.x &amp;&amp; <a class="code" href="a04223.html#a573">y</a>==a.y &amp;&amp; <a class="code" href="a04223.html#a574">z</a>==a.z &amp;&amp; <a class="code" href="a04223.html#a575">w</a>==a.w);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2012_3" doxytag="NLMISC::CQuatT::serial" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::serial </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top"><a class="el" href="a02270.html">IStream</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>f</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+serial.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00168">168</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00169 {
+00170 f.serial(<a class="code" href="a04223.html#a572">x</a>,<a class="code" href="a04223.html#a573">y</a>,<a class="code" href="a04223.html#a574">z</a>,<a class="code" href="a04223.html#a575">w</a>);
+00171 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2002_0" doxytag="NLMISC::CQuatT::set" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::set </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">T&nbsp;</td>
+ <td class="mdname" nowrap> <em>X</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>T&nbsp;</td>
+ <td class="mdname" nowrap> <em>Y</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>T&nbsp;</td>
+ <td class="mdname" nowrap> <em>Z</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>T&nbsp;</td>
+ <td class="mdname" nowrap> <em>W</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00095">95</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00366">NLMISC::CQuatT&lt; T &gt;::squadrev()</a>.
+<p>
+<div class="fragment"><pre>00095 {<a class="code" href="a04223.html#a572">x</a>= X; <a class="code" href="a04223.html#a573">y</a>= Y; <a class="code" href="a04223.html#a574">z</a>= Z; <a class="code" href="a04223.html#a575">w</a>= W;}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2010_3" doxytag="NLMISC::CQuatT::setAngleAxis" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::setAngleAxis </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a02195.html">CAngleAxis</a> &amp;&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> <em>angAxis</em> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Build a UNIT quaternion from an AngleAxis.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00155">155</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+<div class="fragment"><pre>00155 {<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2010_4">setAngleAxis</a>(angAxis.Axis, angAxis.Angle);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2010_4" doxytag="NLMISC::CQuatT::setAngleAxis" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> void <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::setAngleAxis </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03128.html">CVector</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>axis</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>angle</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Build a UNIT quaternion from an AngleAxis.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00294">294</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a05646.html#l00237">v</a>, <a class="el" href="a05646.html#l00236">w</a>, <a class="el" href="a05646.html#l00236">x</a>, <a class="el" href="a05646.html#l00236">y</a>, and <a class="el" href="a05646.html#l00236">z</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00087">NLMISC::CQuatT&lt; float &gt;::CQuatT()</a>, and <a class="el" href="a06308.html#l00155">NLMISC::CQuatT&lt; float &gt;::setAngleAxis()</a>.
+<p>
+<div class="fragment"><pre>00295 {
+00296 CVector <a class="code" href="a04223.html#a576">v</a>= axis;
+00297 <a class="code" href="a04223.html#a576">v</a>.normalize();
+00298 <span class="keywordtype">double</span> ca= cos(angle/2);
+00299 <span class="keywordtype">double</span> sa= sin(angle/2);
+00300 <a class="code" href="a04223.html#a572">x</a>= (T)(<a class="code" href="a04223.html#a576">v</a>.x*sa);
+00301 <a class="code" href="a04223.html#a573">y</a>= (T)(<a class="code" href="a04223.html#a576">v</a>.y*sa);
+00302 <a class="code" href="a04223.html#a574">z</a>= (T)(<a class="code" href="a04223.html#a576">v</a>.z*sa);
+00303 <a class="code" href="a04223.html#a575">w</a>= (T)(ca);
+00304 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2014_2" doxytag="NLMISC::CQuatT::slerp" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::slerp </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q1</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>t</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [static]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Quaternion spherical linear interpolation. when t==0, ret==q0, when t==1, ret==q1. No hemisphere correction is made.
+<p>
+Definition at line <a class="el" href="a06308.html#l00317">317</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a05646.html#l00985">t</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00355">NLMISC::CQuatT&lt; T &gt;::squad()</a>.
+<p>
+<div class="fragment"><pre>00318 {
+00319 <span class="comment">// omega is the 4D angle between q0 and q1.</span>
+00320 <span class="keywordtype">double</span> omega, cosom,sinom;
+00321 T factq0= 1;
+00322 T s0,s1;
+00323
+00324 cosom = CQuatT&lt;T&gt;::dotProduct(q0, q1);
+00325
+00326 <span class="comment">// Make q0 and q1 on the same hemisphere.</span>
+00327 <span class="comment">/*if(cosom&lt;0)</span>
+00328 <span class="comment"> {</span>
+00329 <span class="comment"> cosom= -cosom;</span>
+00330 <span class="comment"> factq0= -1;</span>
+00331 <span class="comment"> }*/</span>
+00332 <span class="comment">// ????</span>
+00333
+00334 <span class="keywordflow">if</span> ( cosom &lt; 1.0 - NLMISC::QuatEpsilon)
+00335 {
+00336 omega = acos(cosom);
+00337 sinom = sin(omega);
+00338 s0 = (T) (sin((1.0f - t)*omega) / sinom);
+00339 s1 = (T) (sin(t*omega) / sinom);
+00340 }
+00341 <span class="keywordflow">else</span>
+00342 { <span class="comment">// q0 and q1 are nearly the same =&gt; sinom nearly 0. We can't slerp.</span>
+00343 <span class="comment">// just linear interpolate.</span>
+00344 s0 = (T)(1.0 - <a class="code" href="a04223.html#a627">t</a>);
+00345 s1 = <a class="code" href="a04223.html#a627">t</a>;
+00346 }
+00347
+00348 <span class="keywordflow">return</span> q0*(factq0*s0) + q1*s1;
+00349
+00350 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2006_13" doxytag="NLMISC::CQuatT::sqrnorm" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::sqrnorm </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="mdname1" valign="top" nowrap> </td>
+ <td class="md" valign="top">&nbsp;)&nbsp;</td>
+ <td class="md" nowrap> const<code> [inline]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+return the square of the norm of the 4D vector.
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00119">119</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00265">NLMISC::CQuatT&lt; T &gt;::invert()</a>, and <a class="el" href="a06308.html#l00121">NLMISC::CQuatT&lt; float &gt;::norm()</a>.
+<p>
+<div class="fragment"><pre>00119 {<span class="keywordflow">return</span> (<a class="code" href="a04223.html#a572">x</a>*<a class="code" href="a04223.html#a572">x</a> + <a class="code" href="a04223.html#a573">y</a>*<a class="code" href="a04223.html#a573">y</a> + <a class="code" href="a04223.html#a574">z</a>*<a class="code" href="a04223.html#a574">z</a> + <a class="code" href="a04223.html#a575">w</a>*<a class="code" href="a04223.html#a575">w</a>);}
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2014_3" doxytag="NLMISC::CQuatT::squad" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::squad </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>tgtQ0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>tgtQ1</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q1</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>t</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [static]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Quaternion Quadratic spherical linear interpolation. when t==0, ret==q0, when t==1, ret==q1. No hemisphere correction is made.
+<p>
+Definition at line <a class="el" href="a06308.html#l00355">355</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00317">NLMISC::CQuatT&lt; T &gt;::slerp()</a>, and <a class="el" href="a05646.html#l00985">t</a>.
+<p>
+<div class="fragment"><pre>00356 {
+00357 <span class="keywordflow">return</span> CQuatT&lt;T&gt;::slerp(
+00358 CQuatT&lt;T&gt;::<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2014_2">slerp</a>(q0, q1, t),
+00359 CQuatT&lt;T&gt;::<a class="code" href="a03297.html#NLMISC_1_1CQuatTz2014_2">slerp</a>(tgtQ0, tgtQ1, t),
+00360 2.f*(1.f-t)*t);
+00361 }
+</pre></div> </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTz2014_4" doxytag="NLMISC::CQuatT::squadrev" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::squadrev </td>
+ <td class="md" valign="top">(&nbsp;</td>
+ <td class="md" nowrap valign="top">const <a class="el" href="a02195.html">CAngleAxis</a> &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>rot</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>tgtQ0</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>tgtQ1</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>const <a class="el" href="a03297.html">CQuatT</a>&lt; T &gt; &amp;&nbsp;</td>
+ <td class="mdname" nowrap> <em>q1</em>, </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap align="right"></td>
+ <td></td>
+ <td class="md" nowrap>float&nbsp;</td>
+ <td class="mdname" nowrap> <em>t</em></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="md">)&nbsp;</td>
+ <td class="md" colspan="2"><code> [static]</code></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Quaternion Quadratic spherical linear interpolation, with multi revision support.
+<p>
+Definition at line <a class="el" href="a06308.html#l00366">366</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+References <a class="el" href="a06308.html#l00053">NLMISC::CAngleAxis::Angle</a>, <a class="el" href="a06308.html#l00052">NLMISC::CAngleAxis::Axis</a>, <a class="el" href="a05587.html#l00079">NLMISC::Pi</a>, <a class="el" href="a06308.html#l00039">NLMISC::QuatEpsilon</a>, <a class="el" href="a05646.html#l00977">s</a>, <a class="el" href="a06308.html#l00095">NLMISC::CQuatT&lt; T &gt;::set()</a>, <a class="el" href="a05646.html#l00985">t</a>, <a class="el" href="a05646.html#l00237">v</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::x</a>, <a class="el" href="a06673.html#l00051">NLMISC::CVector::y</a>, and <a class="el" href="a06673.html#l00051">NLMISC::CVector::z</a>.
+<p>
+<div class="fragment"><pre>00367 {
+00368 <span class="keywordtype">float</span> <a class="code" href="a04223.html#a626">s</a>,<a class="code" href="a04223.html#a576">v</a>;
+00369 <span class="keywordtype">float</span> omega = rot.Angle* 0.5f;
+00370 <span class="keywordtype">float</span> nrevs = 0.0f;
+00371 CQuatT&lt;T&gt; ret,qaxis,pp,qq;
+00372
+00373 <span class="comment">// just one rev?</span>
+00374 <span class="comment">//==============</span>
+00375 <span class="keywordflow">if</span> (omega&lt;<a class="code" href="a05378.html#a44">Pi</a>-<a class="code" href="a05378.html#a227">QuatEpsilon</a>)
+00376 {
+00377 ret = CQuatT&lt;T&gt;::squad(q0,tgtQ0,tgtQ1,q1,t);
+00378 <span class="keywordflow">return</span> ret;
+00379 }
+00380
+00381
+00382 <span class="comment">// multirev.</span>
+00383 <span class="comment">//==============</span>
+00384
+00385 <span class="comment">// rotation of 180deg around rot.Axis. (=&gt; sin(a/2)==sin(Pi/2)==1, and c(a/2)=0).</span>
+00386 qaxis.set(rot.Axis.x, rot.Axis.y, rot.Axis.z, 0);
+00387
+00388 <span class="comment">// the number of revisions (float!)</span>
+00389 nrevs= (<span class="keywordtype">float</span>)(omega/<a class="code" href="a05378.html#a44">Pi</a>);
+00390 <span class="comment">// Angle&gt;2Pi. squad from 0 to Pi, slerp from Pi to Angle-Pi, squad from Angle-Pi to Angle.</span>
+00391 <a class="code" href="a04223.html#a626">s</a> = <a class="code" href="a04223.html#a627">t</a>*2*nrevs;
+00392
+00393
+00394 <span class="comment">// So for s, squad from 0 to 1, slerp from 1 to 2*nrevs-1, squad from 2*nrevs-1 to 2*nrevs.</span>
+00395 <span class="keywordflow">if</span> (<a class="code" href="a04223.html#a626">s</a> &lt; 1.0f)
+00396 {
+00397 <span class="comment">// first part.</span>
+00398 pp = q0*qaxis;
+00399 ret = CQuatT&lt;T&gt;::squad(q0,tgtQ0,pp,pp,s);
+00400 }
+00401 <span class="keywordflow">else</span>
+00402 {
+00403 <a class="code" href="a04223.html#a576">v</a> = <a class="code" href="a04223.html#a626">s</a> - (2.0f*nrevs - 1.0f);
+00404 <span class="keywordflow">if</span>( <a class="code" href="a04223.html#a576">v</a> &lt;= 0.0f)
+00405 {
+00406 <span class="comment">// middle part</span>
+00407 <span class="keywordflow">while</span> (<a class="code" href="a04223.html#a626">s</a> &gt;= 2.0f) <a class="code" href="a04223.html#a626">s</a> -= 2.0f;
+00408 pp = q0*qaxis;
+00409 <span class="comment">// s vary from 1 to 2. This is still correct for slerp().</span>
+00410 ret = CQuatT&lt;T&gt;::slerp(q0,pp,s);
+00411 }
+00412 <span class="keywordflow">else</span>
+00413 {
+00414 <span class="comment">// Last part.</span>
+00415 qq = - q1*qaxis;
+00416 ret= CQuatT&lt;T&gt;::squad(qq,qq,tgtQ1,q1,v);
+00417 }
+00418 }
+00419
+00420 <span class="keywordflow">return</span> ret;
+00421 }
+</pre></div> </td>
+ </tr>
+</table>
+<hr><h2>Field Documentation</h2>
+<a class="anchor" name="NLMISC_1_1CQuatTo0" doxytag="NLMISC::CQuatT::w" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a04223.html#a575">w</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00077">77</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00309">NLMISC::CQuatT&lt; T &gt;::dotProduct()</a>, <a class="el" href="a06308.html#l00227">NLMISC::CQuatT&lt; T &gt;::equal()</a>, <a class="el" href="a06308.html#l00242">NLMISC::CQuatT&lt; T &gt;::operator *()</a>, <a class="el" href="a06308.html#l00112">NLMISC::CQuatT&lt; float &gt;::operator+()</a>, <a class="el" href="a06308.html#l00108">NLMISC::CQuatT&lt; float &gt;::operator+=()</a>, <a class="el" href="a06308.html#l00113">NLMISC::CQuatT&lt; float &gt;::operator-()</a>, <a class="el" href="a06308.html#l00109">NLMISC::CQuatT&lt; float &gt;::operator-=()</a>, <a class="el" href="a06308.html#l00530">NLMISC::CQuatD::operator=()</a>, <a class="el" href="a06308.html#l00503">NLMISC::CQuat::operator=()</a>, and <a class="el" href="a06308.html#l00100">NLMISC::CQuatT&lt; float &gt;::operator==()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTo1" doxytag="NLMISC::CQuatT::x" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a04223.html#a572">x</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00077">77</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00309">NLMISC::CQuatT&lt; T &gt;::dotProduct()</a>, <a class="el" href="a06308.html#l00227">NLMISC::CQuatT&lt; T &gt;::equal()</a>, <a class="el" href="a06308.html#l00242">NLMISC::CQuatT&lt; T &gt;::operator *()</a>, <a class="el" href="a06308.html#l00112">NLMISC::CQuatT&lt; float &gt;::operator+()</a>, <a class="el" href="a06308.html#l00108">NLMISC::CQuatT&lt; float &gt;::operator+=()</a>, <a class="el" href="a06308.html#l00113">NLMISC::CQuatT&lt; float &gt;::operator-()</a>, <a class="el" href="a06308.html#l00109">NLMISC::CQuatT&lt; float &gt;::operator-=()</a>, <a class="el" href="a06308.html#l00530">NLMISC::CQuatD::operator=()</a>, <a class="el" href="a06308.html#l00503">NLMISC::CQuat::operator=()</a>, and <a class="el" href="a06308.html#l00100">NLMISC::CQuatT&lt; float &gt;::operator==()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTo2" doxytag="NLMISC::CQuatT::y" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a04223.html#a573">y</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00077">77</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00309">NLMISC::CQuatT&lt; T &gt;::dotProduct()</a>, <a class="el" href="a06308.html#l00227">NLMISC::CQuatT&lt; T &gt;::equal()</a>, <a class="el" href="a06308.html#l00242">NLMISC::CQuatT&lt; T &gt;::operator *()</a>, <a class="el" href="a06308.html#l00112">NLMISC::CQuatT&lt; float &gt;::operator+()</a>, <a class="el" href="a06308.html#l00108">NLMISC::CQuatT&lt; float &gt;::operator+=()</a>, <a class="el" href="a06308.html#l00113">NLMISC::CQuatT&lt; float &gt;::operator-()</a>, <a class="el" href="a06308.html#l00109">NLMISC::CQuatT&lt; float &gt;::operator-=()</a>, <a class="el" href="a06308.html#l00530">NLMISC::CQuatD::operator=()</a>, <a class="el" href="a06308.html#l00503">NLMISC::CQuat::operator=()</a>, and <a class="el" href="a06308.html#l00100">NLMISC::CQuatT&lt; float &gt;::operator==()</a>. </td>
+ </tr>
+</table>
+<a class="anchor" name="NLMISC_1_1CQuatTo3" doxytag="NLMISC::CQuatT::z" ></a><p>
+<table class="mdTable" width="100%" cellpadding="2" cellspacing="0">
+ <tr>
+ <td class="mdRow">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td class="md" colspan="4">
+template&lt;class T&gt; </td>
+ </tr>
+ <tr>
+ <td class="md" nowrap valign="top"> T <a class="el" href="a03297.html">NLMISC::CQuatT</a>&lt; T &gt;::<a class="el" href="a04223.html#a574">z</a>
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+
+<p>
+Definition at line <a class="el" href="a06308.html#l00077">77</a> of file <a class="el" href="a06308.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="a06308.html#l00309">NLMISC::CQuatT&lt; T &gt;::dotProduct()</a>, <a class="el" href="a06308.html#l00227">NLMISC::CQuatT&lt; T &gt;::equal()</a>, <a class="el" href="a06308.html#l00242">NLMISC::CQuatT&lt; T &gt;::operator *()</a>, <a class="el" href="a06308.html#l00112">NLMISC::CQuatT&lt; float &gt;::operator+()</a>, <a class="el" href="a06308.html#l00108">NLMISC::CQuatT&lt; float &gt;::operator+=()</a>, <a class="el" href="a06308.html#l00113">NLMISC::CQuatT&lt; float &gt;::operator-()</a>, <a class="el" href="a06308.html#l00109">NLMISC::CQuatT&lt; float &gt;::operator-=()</a>, <a class="el" href="a06308.html#l00530">NLMISC::CQuatD::operator=()</a>, <a class="el" href="a06308.html#l00503">NLMISC::CQuat::operator=()</a>, and <a class="el" href="a06308.html#l00100">NLMISC::CQuatT&lt; float &gt;::operator==()</a>. </td>
+ </tr>
+</table>
+<hr>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="a06308.html">quat.h</a></ul>
+<hr size="1"><address style="align: right;"><small>Generated on Tue Mar 16 13:30:51 2004 for NeL by
+<a href="http://www.doxygen.org/index.html">
+<img src="doxygen.png" alt="doxygen" align="middle" border=0 >
+</a>1.3.6 </small></address>
+</body>
+</html>