.. _program_listing_file_src_navtk_navutils_quaternions.hpp:

Program Listing for File quaternions.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_navutils_quaternions.hpp>` (``src/navtk/navutils/quaternions.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace navutils {
   
   Vector4 quat_conj(const Vector4& q);
   
   Vector4 quat_norm(const Vector4& q);
   
   Vector4 quat_mult(const Vector4& q, const Vector4& p);
   
   Vector3 quat_rot(const Vector4& q, const Vector3& r);
   
   Vector4 quat_prop(const Vector4& q, const Vector3& r);
   
   Vector4 llh_to_quat_en(const Vector3& llh);
   
   Vector4 correct_quat_with_tilt(const Vector4& q, const Vector3& t);
   
   }  // namespace navutils
   }  // namespace navtk