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