3D中的方位和角位移的C++实现cQuaternion类用来以四元数形式保存方位或角位移，在能应用到四元数上的完整数学运算集合中，只有那些对单位四元数有意义的运算才对保存角位移有用，这里没有提供四元数的求负、加减、标量乘、对数操作。



-3D position and angular displacement in the C++ class used to implement cQuaternion quaternion orientation or angular displacement is stored in the quaternion can be applied to the complete set of mathematical operations, only those meaningful unit quaternions useful for computing angular displacement of fishes preserved, there are no requirements to provide quaternions negative, subtraction, scalar multiplication, logarithm operation.