quaternion_inverse

$SMEI/ucsd/gen/for/lib/math/quaternion_inverse.f

 NAME:
	quaternion_inverse
 PURPOSE:
	Get inverse quaternion
 CATEGORY:
	ucsd/gen/for/lib
 CALLING SEQUENCE:
	subroutine quaternion_inverse(q1,q)
 INPUTS:
	q1(4)	double precision	quaternion
 OUTPUTS:
	q(4)	double precision	inverse quaternion
 CALLED BY:
	Time2smei_quaternion, smei_hdr_quaternion, smei_skyd_fts, smei_skyd_init
	smei_skyd_make, smei_skyd_sky
 MODIFICATION HISTORY:
	NOV-2004, Paul Hick (UCSD/CASS; pphick@ucsd.edu)

quaternion_multiply

$SMEI/ucsd/gen/for/lib/math/quaternion_multiply.f

 NAME:
	quaternion_multiply
 PURPOSE:
	Multiply two quaternions
 CATEGORY:
	ucsd/gen/for/lib
 CALLING SEQUENCE:
	subroutine quaternion_multiply(q1,q2,q)
 INPUTS:
	q1(4)	double precision	quaternion on the left of the multiplication
	q2(4)	double precision	quaternion on the right of the multiplication
 OUTPUTS:
	q(4)	double precision	final quaternion
 CALLED BY:
	Time2smei_quaternion, smei_hdr_quaternion, smei_skyd_fts, smei_skyd_init
	smei_skyd_make, smei_skyd_sky
 MODIFICATION HISTORY:
	MAR-2003, Aaron Smith (UCSD/CASS)
	NOV-2004, Paul Hick (UCSD/CASS; pphick@ucsd.edu)
		Changed order of quaternion components from
		q0,qx,qy,qz to qx,qy,qz,q0

quaternion_rotate_angles

$SMEI/ucsd/gen/for/lib/math/quaternion_rotate_angles.f

 NAME:
	quaternion_rotate_angles
 PURPOSE:
	Convert vector specified in rectangular coordinates from old
	to new coordinate system.
	Rotate unit vector specified in spherical coordinates
 CATEGORY:
	ucsd/gen/for/lib
 CALLING SEQUENCE:
	subroutine quaternion_rotate_angles(q,phi,lat)
 CALLS: ***
	dasind, datan2d, dcosd, dsind, quaternion_rotate_xyz
 INPUTS:
	q(4)	double precision	quaternion by which rotation is to be performed
	phi	double precision	phase angle in degrees
	lat	double precision	latitude in degrees
 OUTPUTS:
	phi	double precision	phase angle in degrees
	lat	double precision	latitude in degrees
 CALLS: ***
	dasind, datan2d, dcosd, dsind, quaternion_rotate_xyz
 PROCEDURE:
	Quaternion is converted to rotation matrix.
 MODIFICATION HISTORY:
	MAR-2003, Aaron Smith (UCSD/CASS)
	NOV-2003, Paul Hick (UCSD/CASS; pphick@ucsd.edu)
		Introduced call to quaternion_rotate_xyz

quaternion_rotate_xyz

$SMEI/ucsd/gen/for/lib/math/quaternion_rotate_xyz.f

 NAME:
	quaternion_rotate_xyz
 PURPOSE:
	Convert vector specified in rectangular coordinates from old
	to new coordinate system.
 CATEGORY:
	ucsd/gen/for/lib
 CALLING SEQUENCE:
	subroutine quaternion_rotate_xyz(q,x,y,z)
 INPUTS:
	q(4)	double precision	quaternion by which rotation is to be performed
	x,y,z	double precision	vector in rectangular coordinates
 OUTPUTS:
	x,y,z	double precision	rotated vector in rectangular coordinates
 CALLED BY:
	quaternion_rotate_angles, smei_frm_fts_axis, smei_hdr_eph, smei_skyd_checkpix
	smei_skyd_fill, smei_skyd_flush, smei_skyd_fts, smei_skyd_init, smei_skyd_make
	smei_skyd_sky, smei_skyd_sort
 PROCEDURE:
	Quaternion is converted to rotation matrix.
 SEE ALSO:
	quaternion_rotate_angles
 MODIFICATION HISTORY:
	MAR-2003, Aaron Smith (UCSD/CASS)
	NOV-2003, Paul Hick (UCSD/CASS; pphick@ucsd.edu)
	    Changed order of quaternion components from q0,qx,qy,qz to qx,qy,qz,q0
	    Converted to rotate a vector in rectangular coordinates instead of
	    vector specified as angles phi and lat (see quaternion_rotate_).