205 |
|
* Returns the corresponding rotation matrix (3x3) |
206 |
|
* @return a 3x3 rotation matrix |
207 |
|
*/ |
208 |
< |
SquareMatrix<Real, 3, 3> toRotationMatrix3() { |
209 |
< |
SquareMatrix<Real, 3, 3> rotMat3; |
208 |
> |
SquareMatrix<Real, 3> toRotationMatrix3() { |
209 |
> |
SquareMatrix<Real, 3> rotMat3; |
210 |
|
|
211 |
|
Real w2; |
212 |
|
Real x2; |
268 |
|
* @note for a quaternion q, 1/q = q.inverse() |
269 |
|
*/ |
270 |
|
template<typename Real> |
271 |
< |
Quaternion<Real> operator /(const Quaternion<Real>& s, const Quaternion<Real>& q) { |
271 |
> |
Quaternion<Real> operator /(const Real& s, const Quaternion<Real>& q) { |
272 |
|
|
273 |
|
Quaternion<Real> x = q.inv(); |
274 |
|
return x * s; |