C++ (Cpp) UnitQuaternion::real示例

示例#1

文件： UnitQuaternion.cpp 项目： JakeFountain/AutocalibrationResearch

	UnitQuaternion UnitQuaternion::operator * (const UnitQuaternion& p) const {
		//From http://en.wikipedia.org/wiki/Quaternion#Quaternions_and_the_geometry_of_R3
        double realPart = real() * p.real() - arma::dot(imaginary(), p.imaginary());

        arma::vec3 imaginaryPart = arma::cross(imaginary(), p.imaginary())
                                 + p.real() *   imaginary()
                                 +   real() * p.imaginary();

        return UnitQuaternion(realPart, imaginaryPart);
	}