b4ebcd770f
The particular rotation sequence is specified via the enumeration:
//- Euler-angle rotation sequence
enum rotationSequence
{
ZYX, ZYZ, ZXY, ZXZ, YXZ, YXY, YZX, YZY, XYZ, XYX, XZY, XZX
};
and provided as an argument to the constructor from Euler-angles
//- Construct a quaternion given the three Euler angles:
inline quaternion
(
const rotationSequence rs,
const vector& angles
);
and conversion to Euler-angles:
//- Return a vector of euler angles corresponding to the
// specified rotation sequence
inline vector eulerAngles(const rotationSequence rs) const;
299 lines
8.7 KiB
C++
299 lines
8.7 KiB
C++
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2011-2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::quaternion
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Description
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Quaternion class used to perform rotations in 3D space.
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SourceFiles
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quaternionI.H
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quaternion.C
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\*---------------------------------------------------------------------------*/
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#ifndef quaternion_H
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#define quaternion_H
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#include "scalar.H"
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#include "vector.H"
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#include "tensor.H"
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#include "word.H"
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#include "contiguous.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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// Forward declaration of friend functions and operators
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class quaternion;
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Istream& operator>>(Istream& is, quaternion&);
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Ostream& operator<<(Ostream& os, const quaternion& C);
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/*---------------------------------------------------------------------------*\
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Class quaternion Declaration
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\*---------------------------------------------------------------------------*/
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class quaternion
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{
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// private data
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//- Scalar part of the quaternion ( = cos(theta/2) for rotation)
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scalar w_;
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//- Vector part of the quaternion ( = axis of rotation)
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vector v_;
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//- Multiply vector v by quaternion as if v is a pure quaternion
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inline quaternion mulq0v(const vector& v) const;
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//- Conversion of two-axis rotation components into Euler-angles
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inline static vector twoAxes
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(
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const scalar t11,
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const scalar t12,
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const scalar c2,
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const scalar t31,
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const scalar t32
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);
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//- Conversion of three-axis rotation components into Euler-angles
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inline static vector threeAxes
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(
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const scalar t11,
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const scalar t12,
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const scalar s2,
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const scalar t31,
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const scalar t32
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);
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public:
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//- Component type
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typedef scalar cmptType;
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//- Euler-angle rotation sequence
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enum rotationSequence
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{
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ZYX, ZYZ, ZXY, ZXZ, YXZ, YXY, YZX, YZY, XYZ, XYX, XZY, XZX
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};
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// Member constants
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//- Rank of quaternion is 1
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static const direction rank = 1;
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// Static data members
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static const char* const typeName;
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static const quaternion zero;
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static const quaternion I;
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// Constructors
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//- Construct null
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inline quaternion();
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//- Construct given scalar and vector parts
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inline quaternion(const scalar w, const vector& v);
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//- Construct a rotation quaternion given the direction d
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// and angle theta
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inline quaternion(const vector& d, const scalar theta);
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//- Construct a rotation quaternion given the direction d
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// and cosine angle cosTheta and a if d is normalized
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inline quaternion
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(
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const vector& d,
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const scalar cosTheta,
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const bool normalized
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);
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//- Construct given scalar part, the vector part = vector::zero
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inline explicit quaternion(const scalar w);
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//- Construct a pure quaternion given the vector part, scalar part = 0
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inline explicit quaternion(const vector& v);
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//- Construct a quaternion given the three Euler angles
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inline quaternion
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(
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const rotationSequence rs,
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const vector& angles
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);
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//- Construct a quaternion from a rotation tensor
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inline explicit quaternion(const tensor& rotationTensor);
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//- Construct from Istream
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quaternion(Istream&);
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// Member functions
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// Access
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//- Scalar part of the quaternion ( = cos(theta/2) for rotation)
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inline scalar w() const;
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//- Vector part of the quaternion ( = axis of rotation)
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inline const vector& v() const;
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//- The rotation tensor corresponding the quaternion
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inline tensor R() const;
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//- Return a vector of euler angles corresponding to the
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// specified rotation sequence
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inline vector eulerAngles(const rotationSequence rs) const;
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inline quaternion normalized() const;
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// Edit
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//- Scalar part of the quaternion ( = cos(theta/2) for rotation)
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inline scalar& w();
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//- Vector part of the quaternion ( = axis of rotation)
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inline vector& v();
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inline void normalize();
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// Transform
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//- Rotate the given vector
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inline vector transform(const vector& v) const;
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//- Rotate the given vector anti-clockwise
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inline vector invTransform(const vector& v) const;
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//- Rotate the given quaternion (and normalize)
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inline quaternion transform(const quaternion& q) const;
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//- Rotate the given quaternion anti-clockwise (and normalize)
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inline quaternion invTransform(const quaternion& q) const;
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// Member operators
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inline void operator=(const quaternion&);
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inline void operator+=(const quaternion&);
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inline void operator-=(const quaternion&);
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inline void operator*=(const quaternion&);
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inline void operator/=(const quaternion&);
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inline void operator=(const scalar);
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inline void operator=(const vector&);
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inline void operator*=(const scalar);
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inline void operator/=(const scalar);
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// IOstream operators
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friend Istream& operator>>(Istream& is, quaternion&);
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friend Ostream& operator<<(Ostream& os, const quaternion& C);
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};
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// * * * * * * * * * * * * * * * Global Functions * * * * * * * * * * * * * //
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inline scalar magSqr(const quaternion& q);
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inline scalar mag(const quaternion& q);
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//- Return the conjugate of the given quaternion
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inline quaternion conjugate(const quaternion& q);
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//- Return the normalized (unit) quaternion of the given quaternion
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inline quaternion normalize(const quaternion& q);
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//- Return the inverse of the given quaternion
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inline quaternion inv(const quaternion& q);
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//- Return a string representation of a quaternion
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word name(const quaternion&);
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//- Spherical linear interpolation of quaternions
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quaternion slerp
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(
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const quaternion& qa,
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const quaternion& qb,
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const scalar t
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);
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//- Exponent of a quaternion
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quaternion exp(const quaternion& q);
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//- Power of a quaternion
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quaternion pow(const quaternion& q, const label power);
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//- Power of a quaternion
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quaternion pow(const quaternion& q, const scalar power);
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//- Data associated with quaternion type are contiguous
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template<>
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inline bool contiguous<quaternion>() {return true;}
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// * * * * * * * * * * * * * * * Global Operators * * * * * * * * * * * * * //
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inline bool operator==(const quaternion& q1, const quaternion& q2);
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inline bool operator!=(const quaternion& q1, const quaternion& q2);
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inline quaternion operator+(const quaternion& q1, const quaternion& q2);
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inline quaternion operator-(const quaternion& q);
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inline quaternion operator-(const quaternion& q1, const quaternion& q2);
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inline scalar operator&(const quaternion& q1, const quaternion& q2);
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inline quaternion operator*(const quaternion& q1, const quaternion& q2);
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inline quaternion operator/(const quaternion& q1, const quaternion& q2);
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inline quaternion operator*(const scalar s, const quaternion& q);
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inline quaternion operator*(const quaternion& q, const scalar s);
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inline quaternion operator/(const quaternion& q, const scalar s);
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#include "quaternionI.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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