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<a name="hkl-hkl-quaternion-private"></a><div class="titlepage"></div>
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<td valign="top">
<h2><span class="refentrytitle"><a name="hkl-hkl-quaternion-private.top_of_page"></a>hkl-quaternion-private</span></h2>
<p>hkl-quaternion-private</p>
</td>
<td class="gallery_image" valign="top" align="right"></td>
</tr></table></div>
<div class="refsect1">
<a name="hkl-hkl-quaternion-private.functions"></a><h2>Functions</h2>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="functions_return">
<col class="functions_name">
</colgroup>
<tbody>
<tr>
<td class="function_type">
<a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="returnvalue">HklQuaternion</span></a> *
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-dup" title="hkl_quaternion_dup ()">hkl_quaternion_dup</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-free" title="hkl_quaternion_free ()">hkl_quaternion_free</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-init" title="hkl_quaternion_init ()">hkl_quaternion_init</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-init-from-vector" title="hkl_quaternion_init_from_vector ()">hkl_quaternion_init_from_vector</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-init-from-angle-and-axe" title="hkl_quaternion_init_from_angle_and_axe ()">hkl_quaternion_init_from_angle_and_axe</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-fprintf" title="hkl_quaternion_fprintf ()">hkl_quaternion_fprintf</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">int</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-cmp" title="hkl_quaternion_cmp ()">hkl_quaternion_cmp</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-minus-quaternion" title="hkl_quaternion_minus_quaternion ()">hkl_quaternion_minus_quaternion</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-times-quaternion" title="hkl_quaternion_times_quaternion ()">hkl_quaternion_times_quaternion</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">double</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-norm2" title="hkl_quaternion_norm2 ()">hkl_quaternion_norm2</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-conjugate" title="hkl_quaternion_conjugate ()">hkl_quaternion_conjugate</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-to-matrix" title="hkl_quaternion_to_matrix ()">hkl_quaternion_to_matrix</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="hkl-hkl-quaternion-private.html#hkl-quaternion-to-angle-and-axe" title="hkl_quaternion_to_angle_and_axe ()">hkl_quaternion_to_angle_and_axe</a> <span class="c_punctuation">()</span>
</td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect1">
<a name="hkl-hkl-quaternion-private.description"></a><h2>Description</h2>
</div>
<div class="refsect1">
<a name="hkl-hkl-quaternion-private.functions_details"></a><h2>Functions</h2>
<div class="refsect2">
<a name="hkl-quaternion-dup"></a><h3>hkl_quaternion_dup ()</h3>
<pre class="programlisting"><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="returnvalue">HklQuaternion</span></a> *
hkl_quaternion_dup (<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p><span class="annotation">[<acronym title="Exposed in C code, not necessarily available in other languages."><span class="acronym">skip</span></acronym>]</span></p>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-free"></a><h3>hkl_quaternion_free ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_free (<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p><span class="annotation">[<acronym title="Exposed in C code, not necessarily available in other languages."><span class="acronym">skip</span></acronym>]</span></p>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-init"></a><h3>hkl_quaternion_init ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_init (<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><span class="type">double</span> a</code></em>,
<em class="parameter"><code><span class="type">double</span> b</code></em>,
<em class="parameter"><code><span class="type">double</span> c</code></em>,
<em class="parameter"><code><span class="type">double</span> d</code></em>);</pre>
<p>initialize the four elements of an <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a></p>
<div class="refsect3">
<a name="id-1.2.25.5.4.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to initialize</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>a</p></td>
<td class="parameter_description"><p>the 1st element value</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>the 2nd element value</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>c</p></td>
<td class="parameter_description"><p>the 3rd element value</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>d</p></td>
<td class="parameter_description"><p>the 4th element value</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-init-from-vector"></a><h3>hkl_quaternion_init_from_vector ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_init_from_vector (<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklVector" title="struct HklVector"><span class="type">HklVector</span></a> *v</code></em>);</pre>
<p>initialize an <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> from an <a class="link" href="hkl-hkl.html#HklVector" title="struct HklVector"><span class="type">HklVector</span></a></p>
<div class="refsect3">
<a name="id-1.2.25.5.5.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to set</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>v</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklVector" title="struct HklVector"><span class="type">HklVector</span></a> used to set the self <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-init-from-angle-and-axe"></a><h3>hkl_quaternion_init_from_angle_and_axe ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_init_from_angle_and_axe
(<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><span class="type">double</span> angle</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklVector" title="struct HklVector"><span class="type">HklVector</span></a> *v</code></em>);</pre>
<p>initialize an <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> from a vector and a angle.</p>
<div class="refsect3">
<a name="id-1.2.25.5.6.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to set</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>angle</p></td>
<td class="parameter_description"><p>the angles of the rotation</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>v</p></td>
<td class="parameter_description"><p>the axe of rotation</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-fprintf"></a><h3>hkl_quaternion_fprintf ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_fprintf (<em class="parameter"><code><span class="type">FILE</span> *file</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p>print an <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> into a FILE stream</p>
<div class="refsect3">
<a name="id-1.2.25.5.7.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>file</p></td>
<td class="parameter_description"><p>the file to send the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> into</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to write into the file stream.</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-cmp"></a><h3>hkl_quaternion_cmp ()</h3>
<pre class="programlisting"><span class="returnvalue">int</span>
hkl_quaternion_cmp (<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);</pre>
<p>compare two <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a>.</p>
<div class="refsect3">
<a name="id-1.2.25.5.8.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the first <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>the second <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.25.5.8.6"></a><h4>Returns</h4>
<p> <span class="type">TRUE</span> if both are equal, <span class="type">FALSE</span> otherwise.</p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-minus-quaternion"></a><h3>hkl_quaternion_minus_quaternion ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_minus_quaternion (<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);</pre>
<p>substract two <a href="hkl-hkl.html#HklQuaternion"><span class="type">HklQuaternions</span></a>
Todo: test</p>
<div class="refsect3">
<a name="id-1.2.25.5.9.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to modify.</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to substract</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-times-quaternion"></a><h3>hkl_quaternion_times_quaternion ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_times_quaternion (<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);</pre>
<p>multiply two quaternions</p>
<div class="refsect3">
<a name="id-1.2.25.5.10.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to modify</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to multiply by</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-norm2"></a><h3>hkl_quaternion_norm2 ()</h3>
<pre class="programlisting"><span class="returnvalue">double</span>
hkl_quaternion_norm2 (<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p>compute the norm2 of an <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a></p>
<div class="refsect3">
<a name="id-1.2.25.5.11.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody><tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the quaternion use to compute the norm</p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.25.5.11.6"></a><h4>Returns</h4>
<p> the self <span class="type">hklquaternion</span> norm</p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-conjugate"></a><h3>hkl_quaternion_conjugate ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_conjugate (<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p>compute the conjugate of a quaternion</p>
<div class="refsect3">
<a name="id-1.2.25.5.12.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody><tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> to conjugate</p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-to-matrix"></a><h3>hkl_quaternion_to_matrix ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_to_matrix (<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklMatrix" title="HklMatrix"><span class="type">HklMatrix</span></a> *m</code></em>);</pre>
<p>Compute the rotation matrix of a Quaternion.</p>
<p>compute the rotation matrix corresponding to the unitary quaternion.
\f$ q = a + b \cdot i + c \cdot j + d \cdot k \f$</p>
<p>\f$
\left(
\begin{array}{ccc}
a^2+b^2-c^2-d^2 & 2bc-2ad & 2ac+2bd\
2ad+2bc & a^2-b^2+c^2-d^2 & 2cd-2ab\
2bd-2ac & 2ab+2cd & a^2-b^2-c^2+d^2
\end{array}
\right)
\f$
Todo: optimize</p>
<div class="refsect3">
<a name="id-1.2.25.5.13.7"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> use to compute the <a class="link" href="hkl-hkl.html#HklMatrix" title="HklMatrix"><span class="type">HklMatrix</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>m</p></td>
<td class="parameter_description"><p>the <a class="link" href="hkl-hkl.html#HklMatrix" title="HklMatrix"><span class="type">HklMatrix</span></a> return.</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="hkl-quaternion-to-angle-and-axe"></a><h3>hkl_quaternion_to_angle_and_axe ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
hkl_quaternion_to_angle_and_axe (<em class="parameter"><code>const <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><span class="type">double</span> *angle</code></em>,
<em class="parameter"><code><a class="link" href="hkl-hkl.html#HklVector" title="struct HklVector"><span class="type">HklVector</span></a> *v</code></em>);</pre>
<p>compute the axe and angle of the unitary quaternion angle [-pi, pi]
if q is the (1, 0, 0, 0) quaternion return the (0,0,0) axe and a 0 angle</p>
<div class="refsect3">
<a name="id-1.2.25.5.14.5"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>self</p></td>
<td class="parameter_description"><p>The <a class="link" href="hkl-hkl.html#HklQuaternion" title="struct HklQuaternion"><span class="type">HklQuaternion</span></a> use to compute the angle and the roation axis.</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>angle</p></td>
<td class="parameter_description"><p>the returned angle of the rotation.</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>v</p></td>
<td class="parameter_description"><p>the returned axis of the rotation.</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
</div>
<div class="refsect1">
<a name="hkl-hkl-quaternion-private.other_details"></a><h2>Types and Values</h2>
</div>
</div>
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