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+<hr><h1>NLMISC::CQuatT Template Class Reference</h1>A Template quaternion.
+<a href="#_details">More...</a>
+<p>
+<code>#include &lt;<a class="el" href="quat_h-source.html">quat.h</a>&gt;</code>
+<p>
+Inheritance diagram for NLMISC::CQuatT<p><center><img src="class_NLMISC__CQuatT_inherit_graph.gif" border="0" usemap="#NLMISC::CQuatT_inherit_map" alt="Inheritance graph"></center>
+<map name="NLMISC::CQuatT_inherit_map">
+<area href="class_NLMISC__CQuat.html" shape="rect" coords="0,67,107,86">
+<area href="class_NLMISC__CQuatD.html" shape="rect" coords="131,67,245,86">
+</map>
+<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center><a href="class_NLMISC__CQuatT-members.html">List of all members.</a><table border=0 cellpadding=0 cellspacing=0>
+<tr><td colspan=2><br><h2>Public Methods</h2></td></tr>
+<tr><td nowrap align=right valign=top>&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a0">CQuatT</a> ()</td></tr>
+<tr><td nowrap align=right valign=top>&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a1">CQuatT</a> (T X, T Y, T Z, T W)</td></tr>
+<tr><td nowrap align=right valign=top>&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a2">CQuatT</a> (const <a class="el" href="class_NLMISC__CVector.html">CVector</a> &amp;axis, float angle)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>ctor of a UNIT quaternion, from an angle axis.</em> <a href="#a2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a3">CQuatT</a> (const <a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> &amp;aa)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>ctor of a UNIT quaternion, from an angle axis.</em> <a href="#a3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a4">set</a> (T X, T Y, T Z, T W)</td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a5">operator==</a> (const CQuatT&amp; a) const</td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a6">equal</a> (const CQuatT&amp; a, float epsilon = 1E-6f) const</td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a7">identity</a> ()</td></tr>
+<tr><td nowrap align=right valign=top>bool&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a8">isIdentity</a> () const</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&amp;&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a9">operator+=</a> (const CQuatT&amp;o)</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&amp;&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a10">operator-=</a> (const CQuatT&amp;o)</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&amp;&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a11">operator *=</a> (T f)</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&amp;&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a12">operator/=</a> (T f)</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a13">operator+</a> (const CQuatT&amp;o) const</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a14">operator-</a> (const CQuatT&amp;o) const</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a15">operator *</a> (T f) const</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a16">operator/</a> (T f) const</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a17">operator-</a> () const</td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a18">operator+</a> () const</td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a19">sqrnorm</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>return the square of the norm of the 4D vector.</em> <a href="#a19">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a20">norm</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>return the norm of the 4D vector.</em> <a href="#a20">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a21">normalize</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Normalize the quaternion.</em> <a href="#a21">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a22">normed</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Return the quaternion normalized.</em> <a href="#a22">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a23">operator *</a> (const CQuatT&amp;) const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Quaternion multiplication/composition.</em> <a href="#a23">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&amp;&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a24">operator *=</a> (const CQuatT&amp;)</td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a25">invert</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Invert this quaternion. If normalized, conjugate is faster and does same thing.</em> <a href="#a25">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a26">inverted</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>return the quaternion inverted.</em> <a href="#a26">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a27">conjugate</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>return the conjugate of this quaternion.</em> <a href="#a27">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="class_NLMISC__CVector.html">CVector</a>&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a28">getAxis</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Return the equivalent Unit axis of this quaternion.</em> <a href="#a28">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>float&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a29">getAngle</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Return the equivalent angle of this quaternion. (in radian).</em> <a href="#a29">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top><a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a>&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a30">getAngleAxis</a> () const</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Return the equivalent Unit AngleAxis of this quaternion.</em> <a href="#a30">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a31">setAngleAxis</a> (const <a class="el" href="class_NLMISC__CVector.html">CVector</a> &amp;axis, float angle)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Build a UNIT quaternion from an AngleAxis.</em> <a href="#a31">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a32">setAngleAxis</a> (const <a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> &amp;angAxis)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Build a UNIT quaternion from an AngleAxis.</em> <a href="#a32">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a33">log</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>compute logn quaternion.</em> <a href="#a33">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a34">exp</a> ()</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>compute quaternion exponent.</em> <a href="#a34">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a35">makeClosest</a> (const CQuatT &amp;o)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>ensure that *this and q are on same side of hypersphere, ie dotProduct(*this,q) is &gt;0, modifying this if necessary.</em> <a href="#a35">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>void&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#a36">serial</a> (<a class="el" href="class_NLMISC__IStream.html">IStream</a> &amp;f)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>serial.</em> <a href="#a36">More...</a><em></em></font><br><br></td></tr>
+<tr><td colspan=2><br><h2>Public Attributes</h2></td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#m0">x</a></td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#m1">y</a></td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#m2">z</a></td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#m3">w</a></td></tr>
+<tr><td colspan=2><br><h2>Static Public Methods</h2></td></tr>
+<tr><td nowrap align=right valign=top>T&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#d0">dotProduct</a> (const CQuatT&lt;T&gt; &amp;q0, const CQuatT&lt;T&gt; &amp;q1)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Return the dotProduct of 2 quaternions.</em> <a href="#d0">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#d1">slerp</a> (const CQuatT&lt;T&gt;&amp; q0, const CQuatT&lt;T&gt;&amp; q1, float t)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Quaternion spherical linear interpolation.</em> <a href="#d1">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#d2">squad</a> (const CQuatT&lt;T&gt;&amp; q0, const CQuatT&lt;T&gt;&amp; tgtQ0, const CQuatT&lt;T&gt;&amp; tgtQ1, const CQuatT&lt;T&gt;&amp; q1, float t)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Quaternion Quadratic spherical linear interpolation.</em> <a href="#d2">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#d3">squadrev</a> (const <a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> &amp;rot, const CQuatT&lt;T&gt;&amp; q0, const CQuatT&lt;T&gt;&amp; tgtQ0, const CQuatT&lt;T&gt;&amp; tgtQ1, const CQuatT&lt;T&gt;&amp; q1, float t)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>Quaternion Quadratic spherical linear interpolation, with multi revision support.</em> <a href="#d3">More...</a><em></em></font><br><br></td></tr>
+<tr><td nowrap align=right valign=top>CQuatT&nbsp;</td><td valign=bottom><a class="el" href="class_NLMISC__CQuatT.html#d4">lnDif</a> (const CQuatT &amp;q0, const CQuatT &amp;q1)</td></tr>
+<tr><td>&nbsp;</td><td><font size=-1><em>compute lnDiff of q0.inverted()*q1.</em> <a href="#d4">More...</a><em></em></font><br><br></td></tr>
+</table>
+<hr><a name="_details"></a><h2>Detailed Description</h2>
+<h3>template&lt;class T&gt; template class NLMISC::CQuatT</h3>
+
+A Template quaternion.
+<p>
+Use <a class="el" href="class_NLMISC__CQuat.html">CQuat</a> and <a class="el" href="class_NLMISC__CQuatD.html">CQuatD</a>. <dl compact><dt>
+<b>Author(s): </b><dd>
+ Antoine Viau. , Nevrax France </dl><dl compact><dt>
+<b>Date: </b><dd>
+ 2000 </dl>
+<p>
+
+<p>
+Definition at line <a class="el" href="quat_h-source.html#l00074">74</a> of file <a class="el" href="quat_h-source.html">quat.h</a>.<hr><h2>Constructor &amp; Destructor Documentation</h2>
+<a name="a0" doxytag="NLMISC::CQuatT::CQuatT"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+NLMISC::CQuatT&lt;T&gt;::CQuatT&lt;T&gt; (
+ </b></td>
+ <td valign="bottom"><b>
+)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00084">84</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a1" doxytag="NLMISC::CQuatT::CQuatT"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+NLMISC::CQuatT&lt;T&gt;::CQuatT&lt;T&gt; (
+ </b></td>
+ <td valign="bottom"><b>
+T <em>X</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+T <em>Y</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+T <em>Z</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+T <em>W</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00085">85</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a2" doxytag="NLMISC::CQuatT::CQuatT"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+NLMISC::CQuatT&lt;T&gt;::CQuatT&lt;T&gt; (
+ </b></td>
+ <td valign="bottom"><b>
+const <a class="el" href="class_NLMISC__CVector.html">CVector</a> &amp; <em>axis</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+float <em>angle</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00087">87</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a3" doxytag="NLMISC::CQuatT::CQuatT"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+NLMISC::CQuatT&lt;T&gt;::CQuatT&lt;T&gt; (
+ </b></td>
+ <td valign="bottom"><b>
+const <a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> &amp; <em>aa</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00089">89</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<hr><h2>Member Function Documentation</h2>
+<a name="a27" doxytag="NLMISC::CQuatT::conjugate"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::conjugate (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00139">139</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="d0" doxytag="NLMISC::CQuatT::dotProduct"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt; T &gt;::dotProduct (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt; T &gt;&amp; <em>q0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>q1</em>&nbsp;)<code> [static]</code>
+ </b></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="quat_h-source.html#l00309">309</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a6" doxytag="NLMISC::CQuatT::equal"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+bool NLMISC::CQuatT&lt; T &gt;::equal (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>a</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+float <em>epsilon</em> = 1E-6f&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00227">227</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a34" doxytag="NLMISC::CQuatT::exp"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::exp (
+ </b></td>
+ <td valign="bottom"><b>
+)
+ </b></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="quat_h-source.html#l00445">445</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a29" doxytag="NLMISC::CQuatT::getAngle"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+float NLMISC::CQuatT&lt;T&gt;::getAngle (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00148">148</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a30" doxytag="NLMISC::CQuatT::getAngleAxis"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+<a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> NLMISC::CQuatT&lt;T&gt;::getAngleAxis (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00150">150</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a28" doxytag="NLMISC::CQuatT::getAxis"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+<a class="el" href="class_NLMISC__CVector.html">CVector</a> NLMISC::CQuatT&lt;T&gt;::getAxis (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00146">146</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a7" doxytag="NLMISC::CQuatT::identity"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt;T&gt;::identity (
+ </b></td>
+ <td valign="bottom"><b>
+)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00102">102</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a25" doxytag="NLMISC::CQuatT::invert"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt; T &gt;::invert (
+ </b></td>
+ <td valign="bottom"><b>
+)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00265">265</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a26" doxytag="NLMISC::CQuatT::inverted"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::inverted (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00137">137</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a8" doxytag="NLMISC::CQuatT::isIdentity"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+bool NLMISC::CQuatT&lt;T&gt;::isIdentity (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00103">103</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="d4" doxytag="NLMISC::CQuatT::lnDif"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::lnDif (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>q0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt;T&gt; &amp; <em>q1</em>&nbsp;)<code> [static]</code>
+ </b></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="quat_h-source.html#l00462">462</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a33" doxytag="NLMISC::CQuatT::log"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::log (
+ </b></td>
+ <td valign="bottom"><b>
+)
+ </b></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="quat_h-source.html#l00427">427</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a35" doxytag="NLMISC::CQuatT::makeClosest"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt; T &gt;::makeClosest (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;)
+ </b></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="quat_h-source.html#l00473">473</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a20" doxytag="NLMISC::CQuatT::norm"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt;T&gt;::norm (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00121">121</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a21" doxytag="NLMISC::CQuatT::normalize"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt; T &gt;::normalize (
+ </b></td>
+ <td valign="bottom"><b>
+)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00280">280</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a22" doxytag="NLMISC::CQuatT::normed"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::normed (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00125">125</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a23" doxytag="NLMISC::CQuatT::operator *"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::operator * (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00242">242</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a15" doxytag="NLMISC::CQuatT::operator *"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::operator * (
+ </b></td>
+ <td valign="bottom"><b>
+T <em>f</em>&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00114">114</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a24" doxytag="NLMISC::CQuatT::operator *="></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt;&amp; NLMISC::CQuatT&lt; T &gt;::operator *= (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00256">256</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a11" doxytag="NLMISC::CQuatT::operator *="></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; &amp; NLMISC::CQuatT&lt;T&gt;::operator *= (
+ </b></td>
+ <td valign="bottom"><b>
+T <em>f</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00110">110</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a18" doxytag="NLMISC::CQuatT::operator+"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::operator+ (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00117">117</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a13" doxytag="NLMISC::CQuatT::operator+"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::operator+ (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00112">112</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a9" doxytag="NLMISC::CQuatT::operator+="></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; &amp; NLMISC::CQuatT&lt;T&gt;::operator+= (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00108">108</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a17" doxytag="NLMISC::CQuatT::operator-"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::operator- (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00116">116</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a14" doxytag="NLMISC::CQuatT::operator-"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::operator- (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00113">113</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a10" doxytag="NLMISC::CQuatT::operator-="></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; &amp; NLMISC::CQuatT&lt;T&gt;::operator-= (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>o</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00109">109</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a16" doxytag="NLMISC::CQuatT::operator/"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; NLMISC::CQuatT&lt;T&gt;::operator/ (
+ </b></td>
+ <td valign="bottom"><b>
+T <em>f</em>&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00115">115</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a12" doxytag="NLMISC::CQuatT::operator/="></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt;T&gt; &amp; NLMISC::CQuatT&lt;T&gt;::operator/= (
+ </b></td>
+ <td valign="bottom"><b>
+T <em>f</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00111">111</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a5" doxytag="NLMISC::CQuatT::operator=="></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+bool NLMISC::CQuatT&lt;T&gt;::operator== (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt;T&gt; &amp; <em>a</em>&nbsp;) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00100">100</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a36" doxytag="NLMISC::CQuatT::serial"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt;T&gt;::serial (
+ </b></td>
+ <td valign="bottom"><b>
+<a class="el" href="class_NLMISC__IStream.html">IStream</a> &amp; <em>f</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00168">168</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a4" doxytag="NLMISC::CQuatT::set"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt;T&gt;::set (
+ </b></td>
+ <td valign="bottom"><b>
+T <em>X</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+T <em>Y</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+T <em>Z</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+T <em>W</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00095">95</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a32" doxytag="NLMISC::CQuatT::setAngleAxis"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt;T&gt;::setAngleAxis (
+ </b></td>
+ <td valign="bottom"><b>
+const <a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> &amp; <em>angAxis</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00155">155</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="a31" doxytag="NLMISC::CQuatT::setAngleAxis"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+void NLMISC::CQuatT&lt; T &gt;::setAngleAxis (
+ </b></td>
+ <td valign="bottom"><b>
+const <a class="el" href="class_NLMISC__CVector.html">CVector</a> &amp; <em>axis</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+float <em>angle</em>&nbsp;)<code> [inline]</code>
+ </b></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="quat_h-source.html#l00294">294</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="d1" doxytag="NLMISC::CQuatT::slerp"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::slerp (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt; T &gt;&amp; <em>q0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>q1</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+float <em>t</em>&nbsp;)<code> [static]</code>
+ </b></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Quaternion spherical linear interpolation.
+<p>
+when t==0, ret==q0, when t==1, ret==q1. No hemisphere correction is made.
+<p>
+Definition at line <a class="el" href="quat_h-source.html#l00317">317</a> of file <a class="el" href="quat_h-source.html">quat.h</a>.
+<p>
+Referenced by <a class="el" href="animated_value_h-source.html#l00128">NL3D::CAnimatedValueBlendable&lt; NLMISC::CQuat &gt;::blend</a>(). </td>
+ </tr>
+</table>
+<a name="a19" doxytag="NLMISC::CQuatT::sqrnorm"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt;T&gt;::sqrnorm (
+ </b></td>
+ <td valign="bottom"><b>
+) const<code> [inline]</code>
+ </b></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="quat_h-source.html#l00119">119</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="d2" doxytag="NLMISC::CQuatT::squad"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::squad (
+ </b></td>
+ <td valign="bottom"><b>
+const CQuatT&lt; T &gt;&amp; <em>q0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>tgtQ0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>tgtQ1</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>q1</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+float <em>t</em>&nbsp;)<code> [static]</code>
+ </b></td>
+ </tr>
+
+ </table>
+ </td>
+ </tr>
+</table>
+<table cellspacing=5 cellpadding=0 border=0>
+ <tr>
+ <td>
+ &nbsp;
+ </td>
+ <td>
+
+<p>
+Quaternion Quadratic spherical linear interpolation.
+<p>
+when t==0, ret==q0, when t==1, ret==q1. No hemisphere correction is made.
+<p>
+Definition at line <a class="el" href="quat_h-source.html#l00355">355</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="d3" doxytag="NLMISC::CQuatT::squadrev"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+CQuatT&lt; T &gt; NLMISC::CQuatT&lt; T &gt;::squadrev (
+ </b></td>
+ <td valign="bottom"><b>
+const <a class="el" href="class_NLMISC__CAngleAxis.html">CAngleAxis</a> &amp; <em>rot</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>q0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>tgtQ0</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>tgtQ1</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+const CQuatT&lt; T &gt;&amp; <em>q1</em>,
+ </b></td>
+ </tr>
+ <tr>
+ <td></td>
+ <td><b>
+float <em>t</em>&nbsp;)<code> [static]</code>
+ </b></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>
+
+<p>
+Definition at line <a class="el" href="quat_h-source.html#l00366">366</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<hr><h2>Member Data Documentation</h2>
+<a name="m3" doxytag="NLMISC::CQuatT::w"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt;T&gt;::w
+ </b></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="quat_h-source.html#l00077">77</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="m0" doxytag="NLMISC::CQuatT::x"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt;T&gt;::x
+ </b></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="quat_h-source.html#l00077">77</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="m1" doxytag="NLMISC::CQuatT::y"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt;T&gt;::y
+ </b></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="quat_h-source.html#l00077">77</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<a name="m2" doxytag="NLMISC::CQuatT::z"></a><p>
+<table width="100%" cellpadding="2" cellspacing="0" border="0">
+ <tr>
+ <td class="md">
+ <table cellpadding="0" cellspacing="0" border="0">
+ <tr>
+ <td colspan="2"><b>
+template&lt;classT&gt; </b></td>
+ </tr>
+ <tr>
+ <td nowrap valign="top"><b>
+T NLMISC::CQuatT&lt;T&gt;::z
+ </b></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="quat_h-source.html#l00077">77</a> of file <a class="el" href="quat_h-source.html">quat.h</a>. </td>
+ </tr>
+</table>
+<hr>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="quat_h-source.html">quat.h</a></ul>
+
+
+<!-- footer -->
+<BR><FONT Size=+5>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </FONT>
+</TD>
+<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD>
+</TR>
+</TABLE>
+</BODY>
+</HTML>