QUATERNIONS
Quaternion Arithmetic
QUATERNIONS
is a ++C library which
carries out some simple arithmetic operations for quaternions.
Rotations in 3D can be represented in a number of ways, including
quaternions, a rotation matrix, and a combination of a rotation axis
and rotation angle. This library includes functions to convert
a rotation from one representation to another, and to apply a rotation
to a given vector.
Licensing:
The computer code and data files described and made available on this web page
are distributed under
the GNU LGPL license.
Languages:
QUATERNIONS is available in
a C version and
a C++ version and
a FORTRAN90 version and
a MATLAB version and
a Python version.
Related Data and Programs:
C4LIB,
a C++ library which
implements certain elementary functions for
single precision complex (C4) variables.
C8LIB,
a C++ library which
implements certain elementary functions for
double precision complex (C8) variables;
COMPLEX_NUMBERS,
a C++ program which
demonstrates some simple features involved in the use of
complex numbers in MATLAB programming.
I4LIB,
a C++ library which
contains many utility routines, using "I4" or "single precision integer"
arithmetic.
R8LIB,
a C++ library which
contains many utility routines, using "R8" or
"double precision real" arithmetic.
Reference:

Jack Kuipers,
Quaternions and Rotation Sequences,
Princeton, 1998,
ISBN: 0691102988,
LC: QA196.K85.
Source Code:
Examples and Tests:
List of Routines:

DEGREES_TO_RADIANS converts an angle measure from degrees to radians.

Q8_CONJUGATE conjugates a quaternion.

Q8_INVERSE inverts a quaternion.

Q8_MULTIPLY multiplies two quaternions.

Q8_NORM computes the norm of a quaternion.

Q8_NORMAL_01 returns a normally distributed quaternion.

R8_ACOS computes the arc cosine function, with argument truncation.

R8MAT_MV_NEW multiplies a matrix times a vector.

R8MAT_PRINT prints an R8MAT.

R8MAT_PRINT_SOME prints some of an R8MAT.

R8VEC_COPY_NEW copies an R8VEC.

R8VEC_CROSS_PRODUCT_3D computes the cross product of two R8VEC's in 3D.

R8VEC_DOT_PRODUCT computes the dot product of a pair of R8VEC's.

R8VEC_NORM returns the L2 norm of an R8VEC.

R8VEC_PRINT prints an R8VEC.

R8VEC_UNIFORM_01_NEW returns a unit pseudorandom R8VEC.

R8VEC_ZEROS_NEW creates and zeroes an R8VEC.

RADIANS_TO_DEGREES converts an angle from radians to degrees.

ROTATION_AXIS_VECTOR rotates a vector around an axis vector in 3D.

ROTATION_AXIS2MAT converts a rotation from axis to matrix format in 3D.

ROTATION_AXIS2QUAT converts a rotation from axis to quaternion format in 3D.

ROTATION_MAT_VECTOR applies a marix rotation to a vector in 3d.

ROTATION_MAT2AXIS converts a rotation from matrix to axis format in 3D.

ROTATION_MAT2QUAT converts a rotation from matrix to quaternion format in 3D.

ROTATION_QUAT_VECTOR applies a quaternion rotation to a vector in 3d.

ROTATION_QUAT2AXIS converts a rotation from quaternion to axis format in 3D.

ROTATION_QUAT2MAT converts a rotation from quaternion to matrix format in 3D.

TIMESTAMP prints the current YMDHMS date as a time stamp.
You can go up one level to
the C++ source codes.
Last revised on 06 August 2018.