Function navtk::navutils::quat_rot

• Defined in File quaternions.hpp

Function Documentation

Vector3 navtk::navutils::quat_rot(const Vector4 &q, const Vector3 &r)

Rotate a 3-dimensional vector using a quaternion.

This function will output the vector r after applying a vector rotation described by the quaternion q.

See also

Coordinate Frames for more details about quaternions.

Parameters

• q – Quaternion that describes a rotation to be applied

• r – Input 3-length vector

Returns

Vector obtained by rotating r by q.