aa_to_quat Subroutine

public subroutine aa_to_quat(axis, angle, q)

Converts an axis-angle representation to a unit quaternion.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(3)	::	axis	Unit vector along the axis.
real(kind=rp),	intent(in)			::	angle	Angle of rotation in radian. 0 <= angle < pi.
real(kind=rp),	intent(out),		dimension(4)	::	q	Unit quaternion.