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<div class="refentry" title="hkl-quaternion">
<a name="hkl-hkl-quaternion"></a><div class="titlepage"></div>
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<h2><span class="refentrytitle"><a name="hkl-hkl-quaternion.top_of_page"></a>hkl-quaternion</span></h2>
<p>hkl-quaternion</p>
</td>
<td valign="top" align="right"></td>
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<div class="refsynopsisdiv" title="Synopsis">
<a name="hkl-hkl-quaternion.synopsis"></a><h2>Synopsis</h2>
<pre class="synopsis"> <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion">HklQuaternion</a>;
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-init" title="hkl_quaternion_init ()">hkl_quaternion_init</a> (<em class="parameter"><code><a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="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>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-init-from-vector" title="hkl_quaternion_init_from_vector ()">hkl_quaternion_init_from_vector</a> (<em class="parameter"><code><a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a> *v</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-init-from-angle-and-axe" title="hkl_quaternion_init_from_angle_and_axe ()">hkl_quaternion_init_from_angle_and_axe</a>
(<em class="parameter"><code><a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="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-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a> *v</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-fprintf" title="hkl_quaternion_fprintf ()">hkl_quaternion_fprintf</a> (<em class="parameter"><code><span class="type">FILE</span> *file</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);
<span class="returnvalue">int</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-cmp" title="hkl_quaternion_cmp ()">hkl_quaternion_cmp</a> (<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-minus-quaternion" title="hkl_quaternion_minus_quaternion ()">hkl_quaternion_minus_quaternion</a> (<em class="parameter"><code><a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-times-quaternion" title="hkl_quaternion_times_quaternion ()">hkl_quaternion_times_quaternion</a> (<em class="parameter"><code><a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);
<span class="returnvalue">double</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-norm2" title="hkl_quaternion_norm2 ()">hkl_quaternion_norm2</a> (<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-conjugate" title="hkl_quaternion_conjugate ()">hkl_quaternion_conjugate</a> (<em class="parameter"><code><a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-to-matrix" title="hkl_quaternion_to_matrix ()">hkl_quaternion_to_matrix</a> (<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><a class="link" href="hkl-hkl-matrix.html#HklMatrix" title="HklMatrix"><span class="type">HklMatrix</span></a> *m</code></em>);
<span class="returnvalue">void</span> <a class="link" href="hkl-hkl-quaternion.html#hkl-quaternion-to-angle-and-axe" title="hkl_quaternion_to_angle_and_axe ()">hkl_quaternion_to_angle_and_axe</a> (<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="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-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a> *v</code></em>);
</pre>
</div>
<div class="refsect1" title="Description">
<a name="hkl-hkl-quaternion.description"></a><h2>Description</h2>
<p>
</p>
</div>
<div class="refsect1" title="Details">
<a name="hkl-hkl-quaternion.details"></a><h2>Details</h2>
<div class="refsect2" title="HklQuaternion">
<a name="HklQuaternion"></a><h3>HklQuaternion</h3>
<pre class="programlisting">typedef struct {
double data[4];
} HklQuaternion;
</pre>
<p>
</p>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_init ()">
<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-quaternion.html#HklQuaternion" title="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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a>
</p>
<div class="variablelist"><table border="0">
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<tbody>
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<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to initialize
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>a</code></em> :</span></p></td>
<td>the 1st element value
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>b</code></em> :</span></p></td>
<td>the 2nd element value
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>c</code></em> :</span></p></td>
<td>the 3rd element value
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>d</code></em> :</span></p></td>
<td>the 4th element value
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_init_from_vector ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a> *v</code></em>);</pre>
<p>
initialize an <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> from an <a class="link" href="hkl-hkl-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a>
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to set
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>v</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a> used to set the self <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a>
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_init_from_angle_and_axe ()">
<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-quaternion.html#HklQuaternion" title="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-vector.html#HklVector" title="HklVector"><span class="type">HklVector</span></a> *v</code></em>);</pre>
<p>
initialize an <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> from a vector and a angle.
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to set
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>angle</code></em> :</span></p></td>
<td>the angles of the rotation
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>v</code></em> :</span></p></td>
<td>the axe of rotation
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_fprintf ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p>
print an <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> into a FILE stream
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>file</code></em> :</span></p></td>
<td>the file to send the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> into
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to write into the file stream.
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_cmp ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);</pre>
<p>
compare two <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a>.
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the first <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a>
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>the second <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a>
</td>
</tr>
<tr>
<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td> <a class="link" href="hkl-hkl-macros.html#HKL-TRUE:CAPS" title="HKL_TRUE"><span class="type">HKL_TRUE</span></a> if both are equal, <a class="link" href="hkl-hkl-macros.html#HKL-FAIL:CAPS" title="HKL_FAIL"><span class="type">HKL_FAIL</span></a> otherwise.
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_minus_quaternion ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);</pre>
<p>
substract two <a href="hkl-hkl-vector.html#HklQuaternion"><span class="type">HklQuaternions</span></a>
Todo: test
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to modify.
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to substract
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_times_quaternion ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code>const <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *q</code></em>);</pre>
<p>
multiply two quaternions
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to modify
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to multiply by
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_norm2 ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p>
compute the norm2 of an <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a>
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the quaternion use to compute the norm
</td>
</tr>
<tr>
<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td> the self <span class="type">hklquaternion</span> norm
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_conjugate ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>);</pre>
<p>
compute the conjugate of a quaternion
</p>
<div class="variablelist"><table border="0">
<col align="left" valign="top">
<tbody><tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> to conjugate
</td>
</tr></tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_to_matrix ()">
<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-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><a class="link" href="hkl-hkl-matrix.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="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> use to compute the <a class="link" href="hkl-hkl-matrix.html#HklMatrix" title="HklMatrix"><span class="type">HklMatrix</span></a>
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>m</code></em> :</span></p></td>
<td>the <a class="link" href="hkl-hkl-matrix.html#HklMatrix" title="HklMatrix"><span class="type">HklMatrix</span></a> return.
</td>
</tr>
</tbody>
</table></div>
</div>
<hr>
<div class="refsect2" title="hkl_quaternion_to_angle_and_axe ()">
<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-quaternion.html#HklQuaternion" title="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-vector.html#HklVector" title="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="variablelist"><table border="0">
<col align="left" valign="top">
<tbody>
<tr>
<td><p><span class="term"><em class="parameter"><code>self</code></em> :</span></p></td>
<td>The <a class="link" href="hkl-hkl-quaternion.html#HklQuaternion" title="HklQuaternion"><span class="type">HklQuaternion</span></a> use to compute the angle and the roation axis.
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>angle</code></em> :</span></p></td>
<td>the returned angle of the rotation.
</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>v</code></em> :</span></p></td>
<td>the returned axis of the rotation.
</td>
</tr>
</tbody>
</table></div>
</div>
</div>
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