Create a CapyQuaternion

Output and side effect(s):

Return a CapyQuaternion with default null rotation

Allocate memory for a new CapyQuaternion and create it

Output and side effect(s):

Return a CapyQuaternion

Exception(s):

May raise CapyExc_MallocFailed.

Create a new static quaternion from the rotation matrix 'rotMat'

Allocate memory and create a new Quaternion from the rotation matrix 'rotMat'

Create a new static quaternion corresponding to the rotation around 'axis' (must be normalized) by 'theta' (in radians)

Allocate memory and create a new Quaternion corresponding to the rotation around 'axis' (must be normalized) by 'theta' (in radians)

Free the memory used by a CapyQuaternion* and reset '*that' to NULL

Input argument(s):

that: a pointer to the CapyQuaternion to free