95 if (chordLength > 1) chordLength = 1;
96 return acos(chordLength);
104 os <<
"\n{" << q.
U() <<
" " << q.
I()
105 <<
" " << q.
J() <<
" " << q.
K() <<
"}\n";
Namespace for new ROOT classes and functions.
AVector operator*(const AVector &v) const
Overload operator * for rotation on a vector.
Rotation class with the (3D) rotation represented by angles describing first a rotation of an angle p...
Rotation class with the (3D) rotation represented by a unit quaternion (u, i, j, k).
std::ostream & operator<<(std::ostream &os, const AxisAngle &a)
Stream Output and Input.
AxisAngle class describing rotation represented with direction axis (3D Vector) and an angle of rotat...
VecExpr< UnaryOp< Fabs< T >, VecExpr< A, T, D >, T >, T, D > fabs(const VecExpr< A, T, D > &rhs)
Rotation class with the (3D) rotation represented by a 3x3 orthogonal matrix.
Scalar U() const
Access to the four quaternion components: U() is the coefficient of the identity Pauli matrix...
EulerAngles class describing rotation as three angles (Euler Angles).
Scalar Distance(const Quaternion &q) const
Distance between two rotations in Quaternion form Note: The rotation group is isomorphic to a 3-spher...
Namespace for new Math classes and functions.
void Rectify()
Re-adjust components to eliminate small deviations from |Q| = 1 orthonormality.
Quaternion()
Default constructor (identity rotation)