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Function rotation


\begin{boxedminipage}{\textwidth} \begin{verbatim}res = rotation(axis,angle)\end{verbatim} \end{boxedminipage}

Many rotations can be collapsed into one, e.g. to rotate using $q_1$ then $q_2$ : rotate using $q_3 = q_2 \times q_1$

Construct a rotation quaternion from axis and angle (in a righthanded sense)

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

angle -- real(dp), intent(in)

Return value -- type(Quaternion)

orientation function
gabor 2009-06-30