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  44. <li class="navelem"><a class="el" href="dir_275089585c7fc1b5fd5d7d42c69cb1da.html">D:</a></li><li class="navelem"><a class="el" href="dir_7b98f88bffbed4b390b5f8f520d9c08e.html">Source</a></li><li class="navelem"><a class="el" href="dir_1f76e953200861345293ade84ac7fb6c.html">G-Truc</a></li><li class="navelem"><a class="el" href="dir_e29b03b892e0e25920d021a614d4db9b.html">glm</a></li><li class="navelem"><a class="el" href="dir_5ce58d942b2d0776e17a9a58abc01e04.html">glm</a></li><li class="navelem"><a class="el" href="dir_8d176b5b7dd0ae42ea6876078f2bde49.html">gtx</a></li>  </ul>
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    47. 

  47. <div class="header">
    48. 

  48.   <div class="headertitle">
    49. 

  49. <div class="title">dual_quaternion.hpp</div>  </div>
    50. 

  50. </div><!--header-->
    51. 

  51. <div class="contents">
    52. 

  52. <a href="a00019.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div>
    53. 

  53. <div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#pragma once</span></div>
    54. 

  54. <div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div>
    55. 

  55. <div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">// Dependency:</span></div>
    56. 

  56. <div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &quot;../glm.hpp&quot;</span></div>
    57. 

  57. <div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &quot;../gtc/constants.hpp&quot;</span></div>
    58. 

  58. <div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &quot;../gtc/quaternion.hpp&quot;</span></div>
    59. 

  59. <div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div>
    60. 

  60. <div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#if(defined(GLM_MESSAGES) &amp;&amp; !defined(GLM_EXT_INCLUDED))</span></div>
    61. 

  61. <div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#       pragma message(&quot;GLM: GLM_GTX_dual_quaternion extension included&quot;)</span></div>
    62. 

  62. <div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif</span></div>
    63. 

  63. <div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
    64. 

  64. <div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">namespace </span><a class="code" href="a00146.html">glm</a></div>
    65. 

  65. <div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
    66. 

  66. <div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
    67. 

  67. <div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, precision P = defaultp&gt;</div>
    68. 

  68. <div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">struct </span>tdualquat</div>
    69. 

  69. <div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        {</div>
    70. 

  70. <div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                <span class="comment">// -- Implementation detail --</span></div>
    71. 

  71. <div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div>
    72. 

  72. <div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                <span class="keyword">typedef</span> T value_type;</div>
    73. 

  73. <div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                <span class="keyword">typedef</span> glm::tquat&lt;T, P&gt; part_type;</div>
    74. 

  74. <div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div>
    75. 

  75. <div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#               ifdef GLM_META_PROG_HELPERS</span></div>
    76. 

  76. <div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                        <span class="keyword">static</span> GLM_RELAXED_CONSTEXPR length_t components = 2;</div>
    77. 

  77. <div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                        <span class="keyword">static</span> GLM_RELAXED_CONSTEXPR precision prec = P;</div>
    78. 

  78. <div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#               endif//GLM_META_PROG_HELPERS</span></div>
    79. 

  79. <div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
    80. 

  80. <div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                <span class="comment">// -- Data --</span></div>
    81. 

  81. <div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
    82. 

  82. <div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                glm::tquat&lt;T, P&gt; real, dual;</div>
    83. 

  83. <div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div>
    84. 

  84. <div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                <span class="comment">// -- Component accesses --</span></div>
    85. 

  85. <div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
    86. 

  86. <div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#               ifdef GLM_FORCE_SIZE_FUNC</span></div>
    87. 

  87. <div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                        <span class="keyword">typedef</span> <span class="keywordtype">size_t</span> size_type;</div>
    88. 

  88. <div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                        GLM_FUNC_DECL GLM_CONSTEXPR size_type size() <span class="keyword">const</span>;</div>
    89. 

  89. <div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div>
    90. 

  90. <div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                        GLM_FUNC_DECL part_type &amp; operator[](size_type i);</div>
    91. 

  91. <div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                        GLM_FUNC_DECL part_type <span class="keyword">const</span> &amp; operator[](size_type i) <span class="keyword">const</span>;</div>
    92. 

  92. <div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="preprocessor">#               else</span></div>
    93. 

  93. <div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                        <span class="keyword">typedef</span> length_t length_type;</div>
    94. 

  94. <div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                        GLM_FUNC_DECL GLM_CONSTEXPR length_type <a class="code" href="a00153.html#ga18d45e3d4c7705e67ccfabd99e521604">length</a>() <span class="keyword">const</span>;</div>
    95. 

  95. <div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div>
    96. 

  96. <div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                        GLM_FUNC_DECL part_type &amp; operator[](length_type i);</div>
    97. 

  97. <div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                        GLM_FUNC_DECL part_type <span class="keyword">const</span> &amp; operator[](length_type i) <span class="keyword">const</span>;</div>
    98. 

  98. <div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#               endif//GLM_FORCE_SIZE_FUNC</span></div>
    99. 

  99. <div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div>
    100. 

  100. <div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                <span class="comment">// -- Implicit basic constructors --</span></div>
    101. 

  101. <div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div>
    102. 

  102. <div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                GLM_FUNC_DECL tdualquat() GLM_DEFAULT_CTOR;</div>
    103. 

  103. <div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                GLM_FUNC_DECL tdualquat(tdualquat&lt;T, P&gt; const &amp; d) GLM_DEFAULT;</div>
    104. 

  104. <div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                template &lt;precision Q&gt;</div>
    105. 

  105. <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                GLM_FUNC_DECL tdualquat(tdualquat&lt;T, Q&gt; const &amp; d);</div>
    106. 

  106. <div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
    107. 

  107. <div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                <span class="comment">// -- Explicit basic constructors --</span></div>
    108. 

  108. <div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div>
    109. 

  109. <div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                GLM_FUNC_DECL explicit tdualquat(ctor);</div>
    110. 

  110. <div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                GLM_FUNC_DECL explicit tdualquat(tquat&lt;T, P&gt; const &amp; real);</div>
    111. 

  111. <div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                GLM_FUNC_DECL tdualquat(tquat&lt;T, P&gt; const &amp; <a class="code" href="a00228.html#ga49b4d082305cdfcfe0a5c184f684a902">orientation</a>, tvec3&lt;T, P&gt; const &amp; translation);</div>
    112. 

  112. <div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                GLM_FUNC_DECL tdualquat(tquat&lt;T, P&gt; const &amp; real, tquat&lt;T, P&gt; const &amp; dual);</div>
    113. 

  113. <div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div>
    114. 

  114. <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                <span class="comment">// -- Conversion constructors --</span></div>
    115. 

  115. <div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div>
    116. 

  116. <div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                template &lt;typename U, precision Q&gt;</div>
    117. 

  117. <div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tdualquat&lt;U, Q&gt; const &amp; q);</div>
    118. 

  118. <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div>
    119. 

  119. <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                GLM_FUNC_DECL explicit tdualquat(tmat2x4&lt;T, P&gt; const &amp; holder_mat);</div>
    120. 

  120. <div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                GLM_FUNC_DECL explicit tdualquat(tmat3x4&lt;T, P&gt; const &amp; aug_mat);</div>
    121. 

  121. <div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
    122. 

  122. <div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                <span class="comment">// -- Unary arithmetic operators --</span></div>
    123. 

  123. <div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div>
    124. 

  124. <div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                GLM_FUNC_DECL tdualquat&lt;T, P&gt; &amp; operator=(tdualquat&lt;T, P&gt; const &amp; m) GLM_DEFAULT;</div>
    125. 

  125. <div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div>
    126. 

  126. <div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                template &lt;typename U&gt;</div>
    127. 

  127. <div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                GLM_FUNC_DECL tdualquat&lt;T, P&gt; &amp; operator=(tdualquat&lt;U, P&gt; const &amp; m);</div>
    128. 

  128. <div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                template &lt;typename U&gt;</div>
    129. 

  129. <div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                GLM_FUNC_DECL tdualquat&lt;T, P&gt; &amp; operator*=(U s);</div>
    130. 

  130. <div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                template &lt;typename U&gt;</div>
    131. 

  131. <div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                GLM_FUNC_DECL tdualquat&lt;T, P&gt; &amp; operator/=(U s);</div>
    132. 

  132. <div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        };</div>
    133. 

  133. <div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div>
    134. 

  134. <div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="comment">// -- Unary bit operators --</span></div>
    135. 

  135. <div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div>
    136. 

  136. <div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        template &lt;typename T, precision P&gt;</div>
    137. 

  137. <div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        GLM_FUNC_DECL tquat&lt;T, P&gt; operator-(tquat&lt;T, P&gt; const &amp; q);</div>
    138. 

  138. <div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div>
    139. 

  139. <div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">// -- Binary operators --</span></div>
    140. 

  140. <div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div>
    141. 

  141. <div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        template &lt;typename T, precision P&gt;</div>
    142. 

  142. <div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; operator+(tdualquat&lt;T, P&gt; const &amp; q, tdualquat&lt;T, P&gt; const &amp; p);</div>
    143. 

  143. <div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div>
    144. 

  144. <div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        template &lt;typename T, precision P&gt;</div>
    145. 

  145. <div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; operator*(tdualquat&lt;T, P&gt; const &amp; q, tdualquat&lt;T, P&gt; const &amp; p);</div>
    146. 

  146. <div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
    147. 

  147. <div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        template &lt;typename T, precision P&gt;</div>
    148. 

  148. <div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        GLM_FUNC_DECL tvec3&lt;T, P&gt; operator*(tquat&lt;T, P&gt; const &amp; q, tvec3&lt;T, P&gt; const &amp; v);</div>
    149. 

  149. <div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div>
    150. 

  150. <div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        template &lt;typename T, precision P&gt;</div>
    151. 

  151. <div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        GLM_FUNC_DECL tvec3&lt;T, P&gt; operator*(tvec3&lt;T, P&gt; const &amp; v, tquat&lt;T, P&gt; const &amp; q);</div>
    152. 

  152. <div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div>
    153. 

  153. <div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        template &lt;typename T, precision P&gt;</div>
    154. 

  154. <div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        GLM_FUNC_DECL tvec4&lt;T, P&gt; operator*(tquat&lt;T, P&gt; const &amp; q, tvec4&lt;T, P&gt; const &amp; v);</div>
    155. 

  155. <div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
    156. 

  156. <div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        template &lt;typename T, precision P&gt;</div>
    157. 

  157. <div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        GLM_FUNC_DECL tvec4&lt;T, P&gt; operator*(tvec4&lt;T, P&gt; const &amp; v, tquat&lt;T, P&gt; const &amp; q);</div>
    158. 

  158. <div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div>
    159. 

  159. <div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        template &lt;typename T, precision P&gt;</div>
    160. 

  160. <div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; operator*(tdualquat&lt;T, P&gt; const &amp; q, T const &amp; s);</div>
    161. 

  161. <div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div>
    162. 

  162. <div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        template &lt;typename T, precision P&gt;</div>
    163. 

  163. <div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; operator*(T const &amp; s, tdualquat&lt;T, P&gt; const &amp; q);</div>
    164. 

  164. <div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div>
    165. 

  165. <div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        template &lt;typename T, precision P&gt;</div>
    166. 

  166. <div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; operator/(tdualquat&lt;T, P&gt; const &amp; q, T const &amp; s);</div>
    167. 

  167. <div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
    168. 

  168. <div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        template &lt;typename T, precision P&gt;</div>
    169. 

  169. <div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; <a class="code" href="a00193.html#ga495818aa48c23e9e730f87a3c337d1d5">normalize</a>(tdualquat&lt;T, P&gt; const &amp; q);</div>
    170. 

  170. <div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div>
    171. 

  171. <div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        template &lt;typename T, precision P&gt;</div>
    172. 

  172. <div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; <a class="code" href="a00193.html#ga8039b88397ca09275be924a26a806a59">lerp</a>(tdualquat&lt;T, P&gt; const &amp; x, tdualquat&lt;T, P&gt; const &amp; y, T const &amp; a);</div>
    173. 

  173. <div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div>
    174. 

  174. <div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        template &lt;typename T, precision P&gt;</div>
    175. 

  175. <div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; <a class="code" href="a00193.html#ga2149d3cb8af04d9530de0cd16aa1aab2">inverse</a>(tdualquat&lt;T, P&gt; const &amp; q);</div>
    176. 

  176. <div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div>
    177. 

  177. <div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        template &lt;typename T, precision P&gt;</div>
    178. 

  178. <div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        GLM_FUNC_DECL tmat2x4&lt;T, P&gt; <a class="code" href="a00193.html#ga2d124748183e12db8288eeaca350298e">mat2x4_cast</a>(tdualquat&lt;T, P&gt; const &amp; x);</div>
    179. 

  179. <div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div>
    180. 

  180. <div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        template &lt;typename T, precision P&gt;</div>
    181. 

  181. <div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        GLM_FUNC_DECL tmat3x4&lt;T, P&gt; <a class="code" href="a00193.html#ga576745d979e3c079a64152490c816954">mat3x4_cast</a>(tdualquat&lt;T, P&gt; const &amp; x);</div>
    182. 

  182. <div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div>
    183. 

  183. <div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        template &lt;typename T, precision P&gt;</div>
    184. 

  184. <div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; <a class="code" href="a00193.html#ga20eb5758beb73cc6dbc2d9104f03ec20">dualquat_cast</a>(tmat2x4&lt;T, P&gt; const &amp; x);</div>
    185. 

  185. <div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div>
    186. 

  186. <div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        template &lt;typename T, precision P&gt;</div>
    187. 

  187. <div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        GLM_FUNC_DECL tdualquat&lt;T, P&gt; <a class="code" href="a00193.html#ga20eb5758beb73cc6dbc2d9104f03ec20">dualquat_cast</a>(tmat3x4&lt;T, P&gt; const &amp; x);</div>
    188. 

  188. <div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div>
    189. 

  189. <div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div>
    190. 

  190. <div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="a00193.html#gade05d29ebd4deea0f883d0e1bb4169aa">  210</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">float</span>, lowp&gt;          <a class="code" href="a00193.html#gade05d29ebd4deea0f883d0e1bb4169aa">lowp_dualquat</a>;</div>
    191. 

  191. <div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div>
    192. 

  192. <div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="a00193.html#gaa7aeb54c167712b38f2178a1be2360ad">  215</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">float</span>, mediump&gt;       <a class="code" href="a00193.html#gaa7aeb54c167712b38f2178a1be2360ad">mediump_dualquat</a>;</div>
    193. 

  193. <div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div>
    194. 

  194. <div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="a00193.html#ga9ef5bf1da52a9d4932335a517086ceaf">  220</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">float</span>, highp&gt;         <a class="code" href="a00193.html#ga9ef5bf1da52a9d4932335a517086ceaf">highp_dualquat</a>;</div>
    195. 

  195. <div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div>
    196. 

  196. <div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div>
    197. 

  197. <div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="a00193.html#gaa38f671be25a7f3b136a452a8bb42860">  226</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">float</span>, lowp&gt;          <a class="code" href="a00193.html#gaa38f671be25a7f3b136a452a8bb42860">lowp_fdualquat</a>;</div>
    198. 

  198. <div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div>
    199. 

  199. <div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="a00193.html#ga4a6b594ff7e81150d8143001367a9431">  231</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">float</span>, mediump&gt;       <a class="code" href="a00193.html#ga4a6b594ff7e81150d8143001367a9431">mediump_fdualquat</a>;</div>
    200. 

  200. <div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div>
    201. 

  201. <div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="a00193.html#ga4c4e55e9c99dc57b299ed590968da564">  236</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">float</span>, highp&gt;         <a class="code" href="a00193.html#ga4c4e55e9c99dc57b299ed590968da564">highp_fdualquat</a>;</div>
    202. 

  202. <div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div>
    203. 

  203. <div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div>
    204. 

  204. <div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="a00193.html#gab4c5103338af3dac7e0fbc86895a3f1a">  242</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">double</span>, lowp&gt;         <a class="code" href="a00193.html#gab4c5103338af3dac7e0fbc86895a3f1a">lowp_ddualquat</a>;</div>
    205. 

  205. <div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div>
    206. 

  206. <div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="a00193.html#ga0fb11e48e2d16348ccb06a25213641b4">  247</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">double</span>, mediump&gt;      <a class="code" href="a00193.html#ga0fb11e48e2d16348ccb06a25213641b4">mediump_ddualquat</a>;</div>
    207. 

  207. <div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div>
    208. 

  208. <div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="a00193.html#ga8f67eafa7197d7a668dad5105a463d2a">  252</a></span>&#160;        typedef tdualquat&lt;<span class="keywordtype">double</span>, highp&gt;        <a class="code" href="a00193.html#ga8f67eafa7197d7a668dad5105a463d2a">highp_ddualquat</a>;</div>
    209. 

  209. <div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div>
    210. 

  210. <div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div>
    211. 

  211. <div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#if(!defined(GLM_PRECISION_HIGHP_FLOAT) &amp;&amp; !defined(GLM_PRECISION_MEDIUMP_FLOAT) &amp;&amp; !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
    212. 

  212. <div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="keyword">typedef</span> highp_fdualquat                 <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
    213. 

  213. <div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;</div>
    214. 

  214. <div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">  264</a></span>&#160;        <span class="keyword">typedef</span> highp_fdualquat                 <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
    215. 

  215. <div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="preprocessor">#elif(defined(GLM_PRECISION_HIGHP_FLOAT) &amp;&amp; !defined(GLM_PRECISION_MEDIUMP_FLOAT) &amp;&amp; !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
    216. 

  216. <div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="keyword">typedef</span> highp_fdualquat                 <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
    217. 

  217. <div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keyword">typedef</span> highp_fdualquat                 <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
    218. 

  218. <div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) &amp;&amp; defined(GLM_PRECISION_MEDIUMP_FLOAT) &amp;&amp; !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
    219. 

  219. <div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="keyword">typedef</span> mediump_fdualquat               <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
    220. 

  220. <div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keyword">typedef</span> mediump_fdualquat               <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
    221. 

  221. <div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) &amp;&amp; !defined(GLM_PRECISION_MEDIUMP_FLOAT) &amp;&amp; defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
    222. 

  222. <div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keyword">typedef</span> lowp_fdualquat                  <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
    223. 

  223. <div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <span class="keyword">typedef</span> lowp_fdualquat                  <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
    224. 

  224. <div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">#else</span></div>
    225. 

  225. <div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="preprocessor">#       error &quot;GLM error: multiple default precision requested for single-precision floating-point types&quot;</span></div>
    226. 

  226. <div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">#endif</span></div>
    227. 

  227. <div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div>
    228. 

  228. <div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div>
    229. 

  229. <div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) &amp;&amp; !defined(GLM_PRECISION_MEDIUMP_DOUBLE) &amp;&amp; !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
    230. 

  230. <div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <span class="keyword">typedef</span> highp_ddualquat                 <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
    231. 

  231. <div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) &amp;&amp; !defined(GLM_PRECISION_MEDIUMP_DOUBLE) &amp;&amp; !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
    232. 

  232. <div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keyword">typedef</span> highp_ddualquat                 <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
    233. 

  233. <div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) &amp;&amp; defined(GLM_PRECISION_MEDIUMP_DOUBLE) &amp;&amp; !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
    234. 

  234. <div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keyword">typedef</span> mediump_ddualquat               <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
    235. 

  235. <div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) &amp;&amp; !defined(GLM_PRECISION_MEDIUMP_DOUBLE) &amp;&amp; defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
    236. 

  236. <div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keyword">typedef</span> lowp_ddualquat                  <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
    237. 

  237. <div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#else</span></div>
    238. 

  238. <div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">#       error &quot;GLM error: Multiple default precision requested for double-precision floating-point types&quot;</span></div>
    239. 

  239. <div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="preprocessor">#endif</span></div>
    240. 

  240. <div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;</div>
    241. 

  241. <div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;} <span class="comment">//namespace glm</span></div>
    242. 

  242. <div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div>
    243. 

  243. <div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="preprocessor">#include &quot;dual_quaternion.inl&quot;</span></div>
    244. 

  244. <div class="ttc" id="a00193_html_ga20eb5758beb73cc6dbc2d9104f03ec20"><div class="ttname"><a href="a00193.html#ga20eb5758beb73cc6dbc2d9104f03ec20">glm::dualquat_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat&lt; T, P &gt; dualquat_cast(tmat3x4&lt; T, P &gt; const &amp;x)</div><div class="ttdoc">Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. </div></div>
    245. 

  245. <div class="ttc" id="a00193_html_gab4c5103338af3dac7e0fbc86895a3f1a"><div class="ttname"><a href="a00193.html#gab4c5103338af3dac7e0fbc86895a3f1a">glm::lowp_ddualquat</a></div><div class="ttdeci">tdualquat&lt; double, lowp &gt; lowp_ddualquat</div><div class="ttdoc">Dual-quaternion of low double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00242">dual_quaternion.hpp:242</a></div></div>
    246. 

  246. <div class="ttc" id="a00193_html_ga495818aa48c23e9e730f87a3c337d1d5"><div class="ttname"><a href="a00193.html#ga495818aa48c23e9e730f87a3c337d1d5">glm::normalize</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat&lt; T, P &gt; normalize(tdualquat&lt; T, P &gt; const &amp;q)</div><div class="ttdoc">Returns the normalized quaternion. </div></div>
    247. 

  247. <div class="ttc" id="a00193_html_ga9ef5bf1da52a9d4932335a517086ceaf"><div class="ttname"><a href="a00193.html#ga9ef5bf1da52a9d4932335a517086ceaf">glm::highp_dualquat</a></div><div class="ttdeci">tdualquat&lt; float, highp &gt; highp_dualquat</div><div class="ttdoc">Dual-quaternion of high single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00220">dual_quaternion.hpp:220</a></div></div>
    248. 

  248. <div class="ttc" id="a00228_html_ga49b4d082305cdfcfe0a5c184f684a902"><div class="ttname"><a href="a00228.html#ga49b4d082305cdfcfe0a5c184f684a902">glm::orientation</a></div><div class="ttdeci">GLM_FUNC_DECL tmat4x4&lt; T, P &gt; orientation(tvec3&lt; T, P &gt; const &amp;Normal, tvec3&lt; T, P &gt; const &amp;Up)</div><div class="ttdoc">Build a rotation matrix from a normal and a up vector. </div></div>
    249. 

  249. <div class="ttc" id="a00193_html_ga4a6b594ff7e81150d8143001367a9431"><div class="ttname"><a href="a00193.html#ga4a6b594ff7e81150d8143001367a9431">glm::mediump_fdualquat</a></div><div class="ttdeci">tdualquat&lt; float, mediump &gt; mediump_fdualquat</div><div class="ttdoc">Dual-quaternion of medium single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00231">dual_quaternion.hpp:231</a></div></div>
    250. 

  250. <div class="ttc" id="a00193_html_ga237c2b9b42c9a930e49de5840ae0f930"><div class="ttname"><a href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">glm::fdualquat</a></div><div class="ttdeci">highp_fdualquat fdualquat</div><div class="ttdoc">Dual-quaternion of single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00264">dual_quaternion.hpp:264</a></div></div>
    251. 

  251. <div class="ttc" id="a00153_html_ga18d45e3d4c7705e67ccfabd99e521604"><div class="ttname"><a href="a00153.html#ga18d45e3d4c7705e67ccfabd99e521604">glm::length</a></div><div class="ttdeci">GLM_FUNC_DECL T length(vecType&lt; T, P &gt; const &amp;x)</div><div class="ttdoc">Returns the length of x, i.e., sqrt(x * x). </div></div>
    252. 

  252. <div class="ttc" id="a00193_html_gade05d29ebd4deea0f883d0e1bb4169aa"><div class="ttname"><a href="a00193.html#gade05d29ebd4deea0f883d0e1bb4169aa">glm::lowp_dualquat</a></div><div class="ttdeci">tdualquat&lt; float, lowp &gt; lowp_dualquat</div><div class="ttdoc">Dual-quaternion of low single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00210">dual_quaternion.hpp:210</a></div></div>
    253. 

  253. <div class="ttc" id="a00193_html_ga8039b88397ca09275be924a26a806a59"><div class="ttname"><a href="a00193.html#ga8039b88397ca09275be924a26a806a59">glm::lerp</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat&lt; T, P &gt; lerp(tdualquat&lt; T, P &gt; const &amp;x, tdualquat&lt; T, P &gt; const &amp;y, T const &amp;a)</div><div class="ttdoc">Returns the linear interpolation of two dual quaternion. </div></div>
    254. 

  254. <div class="ttc" id="a00193_html_ga2d124748183e12db8288eeaca350298e"><div class="ttname"><a href="a00193.html#ga2d124748183e12db8288eeaca350298e">glm::mat2x4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tmat2x4&lt; T, P &gt; mat2x4_cast(tdualquat&lt; T, P &gt; const &amp;x)</div><div class="ttdoc">Converts a quaternion to a 2 * 4 matrix. </div></div>
    255. 

  255. <div class="ttc" id="a00193_html_ga3d71f98d84ba59dfe4e369fde4714cd6"><div class="ttname"><a href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">glm::ddualquat</a></div><div class="ttdeci">highp_ddualquat ddualquat</div><div class="ttdoc">Dual-quaternion of default double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00283">dual_quaternion.hpp:283</a></div></div>
    256. 

  256. <div class="ttc" id="a00193_html_ga8f67eafa7197d7a668dad5105a463d2a"><div class="ttname"><a href="a00193.html#ga8f67eafa7197d7a668dad5105a463d2a">glm::highp_ddualquat</a></div><div class="ttdeci">tdualquat&lt; double, highp &gt; highp_ddualquat</div><div class="ttdoc">Dual-quaternion of high double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00252">dual_quaternion.hpp:252</a></div></div>
    257. 

  257. <div class="ttc" id="a00193_html_ga4c4e55e9c99dc57b299ed590968da564"><div class="ttname"><a href="a00193.html#ga4c4e55e9c99dc57b299ed590968da564">glm::highp_fdualquat</a></div><div class="ttdeci">tdualquat&lt; float, highp &gt; highp_fdualquat</div><div class="ttdoc">Dual-quaternion of high single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00236">dual_quaternion.hpp:236</a></div></div>
    258. 

  258. <div class="ttc" id="a00146_html"><div class="ttname"><a href="a00146.html">glm</a></div><div class="ttdef"><b>Definition:</b> <a href="a00003_source.html#l00040">_noise.hpp:40</a></div></div>
    259. 

  259. <div class="ttc" id="a00193_html_ga2149d3cb8af04d9530de0cd16aa1aab2"><div class="ttname"><a href="a00193.html#ga2149d3cb8af04d9530de0cd16aa1aab2">glm::inverse</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat&lt; T, P &gt; inverse(tdualquat&lt; T, P &gt; const &amp;q)</div><div class="ttdoc">Returns the q inverse. </div></div>
    260. 

  260. <div class="ttc" id="a00193_html_gaa7aeb54c167712b38f2178a1be2360ad"><div class="ttname"><a href="a00193.html#gaa7aeb54c167712b38f2178a1be2360ad">glm::mediump_dualquat</a></div><div class="ttdeci">tdualquat&lt; float, mediump &gt; mediump_dualquat</div><div class="ttdoc">Dual-quaternion of medium single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00215">dual_quaternion.hpp:215</a></div></div>
    261. 

  261. <div class="ttc" id="a00193_html_ga0fb11e48e2d16348ccb06a25213641b4"><div class="ttname"><a href="a00193.html#ga0fb11e48e2d16348ccb06a25213641b4">glm::mediump_ddualquat</a></div><div class="ttdeci">tdualquat&lt; double, mediump &gt; mediump_ddualquat</div><div class="ttdoc">Dual-quaternion of medium double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00247">dual_quaternion.hpp:247</a></div></div>
    262. 

  262. <div class="ttc" id="a00193_html_ga576745d979e3c079a64152490c816954"><div class="ttname"><a href="a00193.html#ga576745d979e3c079a64152490c816954">glm::mat3x4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tmat3x4&lt; T, P &gt; mat3x4_cast(tdualquat&lt; T, P &gt; const &amp;x)</div><div class="ttdoc">Converts a quaternion to a 3 * 4 matrix. </div></div>
    263. 

  263. <div class="ttc" id="a00193_html_gaa38f671be25a7f3b136a452a8bb42860"><div class="ttname"><a href="a00193.html#gaa38f671be25a7f3b136a452a8bb42860">glm::lowp_fdualquat</a></div><div class="ttdeci">tdualquat&lt; float, lowp &gt; lowp_fdualquat</div><div class="ttdoc">Dual-quaternion of low single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00226">dual_quaternion.hpp:226</a></div></div>
    264. 

  264. <div class="ttc" id="a00193_html_gae93abee0c979902fbec6a7bee0f6fae1"><div class="ttname"><a href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">glm::dualquat</a></div><div class="ttdeci">highp_fdualquat dualquat</div><div class="ttdoc">Dual-quaternion of floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00259">dual_quaternion.hpp:259</a></div></div>
    265. 

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