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	/// Print quaternion to stream.
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	/// Print quaternion to stream.
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	inline std::ostream& operator<<(std::ostream&os, const Quaternion v)
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	inline std::ostream& operator<<(std::ostream&os, const Quaternion v)
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	{
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	{
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		os << "[ ";
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		os << "[ ";
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		for(int i=0;i<3;i++) os << v.qv[i] << " ";
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		for(unsigned int i=0;i<3;i++) os << v.qv[i] << " ";
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		os << " ~ " << v.qw << " ";
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		os << " ~ " << v.qw << " ";
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		os << "]";
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		os << "]";
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		return os;
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		return os;
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	}
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	}