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| Quaternion | QSlerp (const Quaternion &q1, const Quaternion &q2, Float64 alfa) |
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| Quaternion | QSquad (const Quaternion &q0, const Quaternion &q1, const Quaternion &q2, const Quaternion &q3, Float64 alfa) |
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| Quaternion | QBlend (const Quaternion &q1, const Quaternion &q2, const Float64 r) |
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| Quaternion | QSpline (const Quaternion &qn_m1, const Quaternion &qn, const Quaternion &qn_p1, const Quaternion &qn_p2, Float64 t) |
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| Quaternion | QSmoothCubic (const Quaternion &qn_m1, const Quaternion &qn, const Quaternion &qn_p1, Float64 t) |
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| Quaternion | QNorm (const Quaternion &q) |
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| Quaternion | QMul (const Quaternion &q1, const Quaternion &q2) |
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| Quaternion | QMul (const Quaternion &q, Float64 s) |
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| Quaternion | QAdd (const Quaternion &q1, const Quaternion &q2) |
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| Quaternion | QSub (const Quaternion &q1, const Quaternion &q2) |
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| Quaternion | QInvert (const Quaternion &q) |
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| Float64 | QDot (const Quaternion &q1, const Quaternion &q2) |
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| Quaternion | QDeriv (const Quaternion &q, const Vector64 &w) |
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| Quaternion | QLogN (const Quaternion &q) |
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| Quaternion | QExpQ (const Quaternion &q) |
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| Vector64 | Matrix64ToHPB (const Matrix64 &m) |
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| Matrix64 | LHPBToMatrix (const Vector64 &w) |
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