+ inline float GetP(void) {return P;}
+ inline float GetQ(void) {return Q;}
+ inline float GetR(void) {return R;}
+
+ inline float GetPdot(void) {return Pdot;}
+ inline float GetQdot(void) {return Qdot;}
+ inline float GetRdot(void) {return Rdot;}
+
+ inline float Getphi(void) {return phi;}
+ inline float Gettht(void) {return tht;}
+ inline float Getpsi(void) {return psi;}
+
+ inline float GetQ0(void) {return Q0;}
+ inline float GetQ1(void) {return Q1;}
+ inline float GetQ2(void) {return Q2;}
+ inline float GetQ3(void) {return Q3;}
+
+ inline void SetP(float tt) {P = tt;}
+ inline void SetQ(float tt) {Q = tt;}
+ inline void SetR(float tt) {R = tt;}
+
+ inline void SetPQR(float t1, float t2, float t3) {P=t1;
+ Q=t2;
+ R=t3;}
+
+ inline void Setphi(float tt) {phi = tt;}
+ inline void Settht(float tt) {tht = tt;}
+ inline void Setpsi(float tt) {psi = tt;}
+
+ inline void SetEuler(float t1, float t2, float t3) {phi=t1;
+ tht=t2;
+ psi=t3;}
+
+ inline void SetQ0123(float t1, float t2, float t3, float t4) {Q0=t1;
+ Q1=t2;
+ Q2=t3;
+ Q3=t4;}
+