14 template <
typename Type>
17 template <
typename Type>
20 template <
typename Type>
29 template<
typename Type>
72 Type ang = Type(2) *
acos(q(0));
73 Type mag =
sin(ang/2.0
f);
Dual< Scalar, N > acos(const Dual< Scalar, N > &a)
AxisAngle(Type x, Type y, Type z)
Constructor from 3 axis angle values (unit vector * angle)
AxisAngle(const Matrix31 &axis_, Type angle_)
Constructor from axis and angle.
AxisAngle()=default
Standard constructor.
Direction cosine matrix class.
AxisAngle(const Type data_[3])
Constructor from array.
AxisAngle(const Dcm< Type > &dcm)
Constructor from dcm.
AxisAngle(const Euler< Type > &euler)
Constructor from euler angles.
Matrix< Type, 3, 1 > Matrix31
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
AxisAngle(const Matrix31 &other)
Constructor from Matrix31.
AxisAngle< float > AxisAnglef
AxisAngle(const Quaternion< Type > &q)
Constructor from quaternion.
Dual< Scalar, N > sin(const Dual< Scalar, N > &a)