Transformations in C++
This chapter gives code for representing orientation and performing transformations. It is divided into five sections.
Section 11.1 discusses a few ground rules that are common to all the helper classes.
Section 11.2 presents class
EulerAngles, which is used to store an orientation in Euler angle format.
Section 11.3 presents class
Quaternion, which is used to store an angular displacement in quaternion format. ...