quaternion_mod – CommonModules

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Module for working with quaternions

Todo

Add documentation

Used By

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Interfaces

quat_t norm2 conjg exp log log10 operator(+) operator(-) operator(*) operator(/)

Derived Types

quat_t

Functions

scaler vector inv

Interfaces

public interface quat_t

private function newQuat(r, v) result(self)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in) :: r

real(kind=wp), intent(in), dimension(3) :: v

Return Value type(quat_t)

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in)			::	r
real(kind=wp),	intent(in),		dimension(3)	::	v

public interface norm2

private elemental function norm2_q(q) result(o)

Return the magnitude of the quaternion

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q
The quaternion of interest

Return Value real(kind=wp)

public interface conjg

private elemental function conjg_q(q) result(o)

Return the conjugate of the quaternion

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q
The quaternion of interest

Return Value type(quat_t)

public interface exp

private elemental function exp_q(q) result(o)

Take the exponent of a quaternion

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q
The quaternion of interest

Return Value type(quat_t)

public interface log

private elemental function log_q(q) result(o)

Take the natural log of a quaternion

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q
The quaternion of interest

Return Value type(quat_t)

public interface log10

private elemental function log10_q(q) result(o)

Take the log10 of a quaternion

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q
The quaternion of interest

Return Value type(quat_t)

public interface operator(+)

private elemental function add_rq(r, q) result(o)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in) :: r

type(quat_t), intent(in) :: q

Return Value type(quat_t)
private elemental function add_qr(q, r) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q

real(kind=wp), intent(in) :: r

Return Value type(quat_t)
private pure function add_vq(v, q) result(o)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in), dimension(3) :: v

type(quat_t), intent(in) :: q

Return Value type(quat_t)
private pure function add_qv(q, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q

real(kind=wp), intent(in), dimension(3) :: v

Return Value type(quat_t)
private elemental function add_qq(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: u

type(quat_t), intent(in) :: v

Return Value type(quat_t)

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in)			::	r
type(quat_t),	intent(in)			::	q

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q
real(kind=wp),	intent(in)			::	r

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in),		dimension(3)	::	v
type(quat_t),	intent(in)			::	q

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q
real(kind=wp),	intent(in),		dimension(3)	::	v

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	u
type(quat_t),	intent(in)			::	v

public interface operator(-)

private elemental function sub_rq(r, q) result(o)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in) :: r

type(quat_t), intent(in) :: q

Return Value type(quat_t)
private elemental function sub_qr(q, r) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q

real(kind=wp), intent(in) :: r

Return Value type(quat_t)
private pure function sub_vq(v, q) result(o)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in), dimension(3) :: v

type(quat_t), intent(in) :: q

Return Value type(quat_t)
private pure function sub_qv(q, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q

real(kind=wp), intent(in), dimension(3) :: v

Return Value type(quat_t)
private elemental function sub_qq(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: u

type(quat_t), intent(in) :: v

Return Value type(quat_t)

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in)			::	r
type(quat_t),	intent(in)			::	q

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q
real(kind=wp),	intent(in)			::	r

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in),		dimension(3)	::	v
type(quat_t),	intent(in)			::	q

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q
real(kind=wp),	intent(in),		dimension(3)	::	v

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	u
type(quat_t),	intent(in)			::	v

public interface operator(*)

private elemental function mul_rq(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in) :: u

type(quat_t), intent(in) :: v

Return Value type(quat_t)
private elemental function mul_qr(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: u

real(kind=wp), intent(in) :: v

Return Value type(quat_t)
private pure function mul_vq(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

real(kind=wp), intent(in), dimension(3) :: u

type(quat_t), intent(in) :: v

Return Value type(quat_t)
private pure function mul_qv(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: u

real(kind=wp), intent(in), dimension(3) :: v

Return Value type(quat_t)
private elemental function mul_qq(u, v) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: u

type(quat_t), intent(in) :: v

Return Value type(quat_t)

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in)			::	u
type(quat_t),	intent(in)			::	v

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	u
real(kind=wp),	intent(in)			::	v

Type	Intent	Optional	Attributes		Name
real(kind=wp),	intent(in),		dimension(3)	::	u
type(quat_t),	intent(in)			::	v

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	u
real(kind=wp),	intent(in),		dimension(3)	::	v

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	u
type(quat_t),	intent(in)			::	v

public interface operator(/)

private elemental function div_qr(q, r) result(o)

Arguments

Type Intent Optional Attributes Name

type(quat_t), intent(in) :: q

real(kind=wp), intent(in) :: r

Return Value type(quat_t)

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q
real(kind=wp),	intent(in)			::	r

Derived Types

type, public :: quat_t

Hamilton's quaternion extension to complex numbers

Components

Type	Visibility	Attributes		Name		Initial
real(kind=wp),	public		::	s	=	0.0_wp	Scalar part
real(kind=wp),	public,	dimension(3)	::	v	=	0.0_wp	Vector part

Constructor

private function newQuat(r, v)

Type-Bound Procedures

procedure, public :: getRotationMatrix

Functions

public elemental function scaler(q) result(o)

Return the scalar part of the quaternion

Arguments

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q	The quaternion of interest

Return Value real(kind=wp)

public function vector(q) result(o)

Return the vector part of the quaternion

Arguments

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q	The quaternion of interest

Return Value real(kind=wp), dimension(3)

public elemental function inv(q) result(o)

Return the inverse of the quaternion

Arguments

Type	Intent	Optional	Attributes		Name
type(quat_t),	intent(in)			::	q	The quaternion of interest

quaternion_mod Module

Uses:

Todo

Used By

Interfaces

public interface quat_t

private function newQuat(r, v) result(self)

Arguments

Return Value type(quat_t)

public interface norm2

private elemental function norm2_q(q) result(o)

Arguments

Return Value real(kind=wp)

public interface conjg

private elemental function conjg_q(q) result(o)

Arguments

Return Value type(quat_t)

public interface exp

private elemental function exp_q(q) result(o)

Arguments

Return Value type(quat_t)

public interface log

private elemental function log_q(q) result(o)

Arguments

Return Value type(quat_t)

public interface log10

private elemental function log10_q(q) result(o)

Arguments

Return Value type(quat_t)

public interface operator(+)

private elemental function add_rq(r, q) result(o)

Arguments

Return Value type(quat_t)

private elemental function add_qr(q, r) result(o)

Arguments

Return Value type(quat_t)

private pure function add_vq(v, q) result(o)

Arguments

Return Value type(quat_t)

private pure function add_qv(q, v) result(o)

Arguments

Return Value type(quat_t)

private elemental function add_qq(u, v) result(o)

Arguments

Return Value type(quat_t)

public interface operator(-)

private elemental function sub_rq(r, q) result(o)

Arguments

Return Value type(quat_t)

private elemental function sub_qr(q, r) result(o)

Arguments

Return Value type(quat_t)

private pure function sub_vq(v, q) result(o)

Arguments

Return Value type(quat_t)

private pure function sub_qv(q, v) result(o)

Arguments

Return Value type(quat_t)

private elemental function sub_qq(u, v) result(o)

Arguments

Return Value type(quat_t)

public interface operator(*)

private elemental function mul_rq(u, v) result(o)

Arguments

Return Value type(quat_t)

private elemental function mul_qr(u, v) result(o)

Arguments

Return Value type(quat_t)

private pure function mul_vq(u, v) result(o)

Arguments

Return Value type(quat_t)

private pure function mul_qv(u, v) result(o)

Arguments

Return Value type(quat_t)

private elemental function mul_qq(u, v) result(o)

Arguments

Return Value type(quat_t)

public interface operator(/)

private elemental function div_qr(q, r) result(o)

Arguments