QUATERNIONS
Quaternion Arithmetic


QUATERNIONS is a C library which carries out some simple arithmetic operations for quaternions.

Rotations in 3D can be represented in a number of ways, including quaternions, a rotation matrix, and a combination of a rotation axis and rotation angle. This library includes functions to convert a rotation from one representation to another, and to apply a rotation to a given vector.

Licensing:

The computer code and data files described and made available on this web page are distributed under the GNU LGPL license.

Languages:

QUATERNIONS is available in a C version and a FORTRAN90 version and a MATLAB version and a Python version.

Related Data and Programs:

C4LIB, a C library which implements certain elementary functions for single precision complex (C4) variables.

C8LIB, a C library which implements certain elementary functions for double precision complex (C8) variables;

COMPLEX_NUMBERS, a C program which demonstrates some simple features involved in the use of complex numbers in MATLAB programming.

I4LIB, a C library which contains many utility routines, using "I4" or "single precision integer" arithmetic.

R8LIB, a C library which contains many utility routines, using "R8" or "double precision real" arithmetic.

Reference:

  1. Jack Kuipers,
    Quaternions and Rotation Sequences,
    Princeton, 1998,
    ISBN: 0691102988,
    LC: QA196.K85.

Source Code:

Examples and Tests:

List of Routines:

You can go up one level to the C source codes.


Last revised on 05 August 2018.