Program Listing for File quaternions.hpp

↰ Return to documentation for file (src/navtk/navutils/quaternions.hpp)

#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