rotate_vec

kyosu::rotate_vec = eve::functor<rotate_vec_t>

inlineconstexpr

Callable object rotating an \(\mathbb{R}^3\) vector using a quaternion.

Header file

#include kyosu/quaternion.hpp>`

Callable Signatures

namespace eve
{
  auto rotate_vec(auto q, auto v) const noexcept;
  auto rotate_vec[assume_unitary](auto q, auto v) const noexcept
}

Parameters

q: quaternion value defining the rotation. v: span of 3 elements to rotate.

Return value

1. the span rotated by q
2. with assume_unitary, assumes that q is already normalized

Example

#include <kyosu/kyosu.hpp>
#include <eve/wide.hpp>
#include <iostream>
 
int main()
{
  using kyosu::rotate_vec;
 
  auto theta = eve::pio_3(eve::as<double>());
  std::array<double, 3> ax{1., 2., 3.};
  std::array<double, 3> v{ 1.5, 2.0, -3.0};
  auto q = kyosu::from_angle_axis(theta, std::span(ax));
  std::cout << " v                " << v[0] << ", " << v[1] << ",  " <<  v[2] << ")\n";
  std::cout << " q                " << q << std::endl;
  auto rv = kyosu::rotate_vec(q, std::span<double, 3>(v));
  std::cout << " rotate_vec(q, v) " << " -> (" << rv[0] << ", " << rv[1] << ",  " << rv[2] << ")\n";
 
  return 0;
}