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Function rc_quaternion_conjugate

Function Documentation

int rc_quaternion_conjugate(rc_vector_t q, rc_vector_t *c)

Calculates conjugate of quaternion q.

Populates quaternion vector c with the conjugate of quaternion q where the 3 imaginary parts ijk are multiplied by -1. If c is already of length 4 then the old values are overwritten. Otherwise the old memory in c is freed and new memory is allocated to help prevent memory leaks.

Parameters

  • q – [in] The quarter

  • c – [out] output conjugate

Returns

Returns 0 on success or -1 on failure.