Interface rotate

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Interface `rotate`

$\begin{boxedminipage}{\textwidth} \begin{verbatim}res = rotate(v,qr) res = rotate(qv,qr)\end{verbatim} \end{boxedminipage}$

Rotate a vector using the given quaternion

Rotate a vector represented as a quaternion (qv), using a given rotation quaternion (qr) This assumes that the rotation quaternion is properly normalised

qv = qr * qv * (.conj.qr)

v -- real(dp), intent(in), dimension(3)

qr -- type(Quaternion), intent(in)

qv -- type(Quaternion), intent(in)

Return values:

r1 -- real(dp), dimension(3)
r2 -- type(Quaternion)

print interface

gabor 2009-06-30