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rotation.h File Reference
#include <mt/exception.h>
#include <mt/unit3.h>
#include <mt/matrix3x3.h>
#include <mt/plane3.h>
#include <mt/quaternion.h>

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Classes

class  mt::Rotation
 Singularity-free spatial rotations class. More...

Functions

Scalar mt::angleCos (const Rotation &r1, const Rotation &r2)
 Cosine of the angle between unit quaternions.
Scalar mt::angle (const Rotation &r1, const Rotation &r2)
Rotation mt::inverse (const Rotation &r)
 Quaternion inverse.
std::ostream & mt::operator<< (std::ostream &os, const Rotation &q)

Detailed Description