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#include "Mat4x4d.h"
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#include "Mat4x4d.h"
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#include <cmath>
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#include <cmath>
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namespace CGLA {
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namespace CGLA {
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  /** A Quaterinion class. Quaternions are algebraic entities
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  /** \brief A double precision Quaterinion class.
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      useful for rotation. */
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	Quaternions are algebraic entities  useful for rotation. */
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  class Quatd
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  class Quatd
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  {
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  {
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  public:
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  public:
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