#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) |