QVM Documentation

What's new?

[Mar. 15th 2005] The first version of QVM was released.

QVM is a quaternion, vector, and matrix class set in C++ for 3D kinematics.

This library does not handle general matrix-vector problems but is specialized for 3D kinetic problems.

The namespace for QVM is "QVM".
The quaternion class is "QVM::quat".
The 3D vector class is "QVM::vec".
The 3x3 matrix class is "QVM::mat".
The operator "*" means the matrix product.
The operator "%" means the inner product.
The operator "/" means the outer product.
QVM doesn't distingish column-vector and row-vector. For example, v1*v2 returns mat as the result of the matrix product between column-vector v1 and row-vector v2. On the other hand, v1%v2 returns double as the result of the inner product, and v1/v2 returns vec as the result of the outer product.
To convert quat to vec, use vec im(const quat&) function.
To convert vec to quat, use vr2q(const vec&, const double&) function or vt2q(const vec&, const double&) function. See How to Convert "quat to vec" and "vec to quat" for the detail.
To rotate a vector in a coordinate system, use rotate(const vec&, const quat&) function. See How to Rotate "vec" for the detail.

QVM is an open-source, free, and unguaranteed software.

Author: Yuki ONISHI

Please send bug reports to yuki.onishi@nifty.com. I also welcome any kind of comments.