13 std::cout <<
"The rotation matrices are" << std::endl;
14 std::cout <<
"R1:\n" << R1.matrix() << std::endl;
15 std::cout <<
"R2:\n" << R2.matrix() << std::endl;
16 std::cout <<
"R3:\n" << R3.matrix() << std::endl;
17 std::cout <<
"Their product R1*R2*R3:\n"
18 << (R1 * R2 * R3).matrix() << std::endl;
19 std::cout << std::endl;
24 std::cout <<
"Rotation matrices can act on vectors" << std::endl;
25 std::cout <<
"x\n" << x << std::endl;
26 std::cout <<
"R2*x\n" << R2 * x << std::endl;
27 std::cout <<
"R1*(R2*x)\n" << R1 * (R2 * x) << std::endl;
28 std::cout <<
"(R1*R2)*x\n" << (R1 * R2) * x << std::endl;
29 std::cout << std::endl;
32 std::cout <<
"R1 in matrix form:\n" << R1.matrix() << std::endl;
33 std::cout <<
"R1 in unit quaternion form:\n"
37 std::cout << std::endl;