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-rw-r--r--ucoo/math/quaternion.hh6
1 files changed, 6 insertions, 0 deletions
diff --git a/ucoo/math/quaternion.hh b/ucoo/math/quaternion.hh
index fd22c96..5e60cde 100644
--- a/ucoo/math/quaternion.hh
+++ b/ucoo/math/quaternion.hh
@@ -42,6 +42,12 @@ struct Quaternion
Quaternion (const YawPitchRoll<T> &ypr);
/// Rotate a vector by a unit quaternion.
vect3d<T> rotate (const vect3d<T> &v) const;
+ /// Compute Yaw.
+ T yaw () const;
+ /// Compute Pitch.
+ T pitch () const;
+ /// Compute Roll.
+ T roll () const;
};
} // namespace ucoo