Rodrigues' rotation formula - Wikipedia
This article includes a list of general references, but it lacks sufficient corresponding inline citations. Please help to improve this article by introducing more precise citations. (May 2021) (Learn how and when to remove this message) In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space,
std::vector - cppreference.com
Except for the std::vector<bool> partial specialization, the elements are stored contiguously, which means that elements can be accessed not only through iterators, but also using offsets to regular pointers to elements. This means that a pointer to an element of a vector may be passed to any function that expects a pointer to an element of an array. The storage of the vector is handled automatica
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