Quaternion.h File Reference

Definitions of quaternion types. More...

#include <math.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
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SurgSim

SurgSim::Math

## Typedefs

typedef Eigen::Quaternion< float > SurgSim::Math::Quaternionf
A quaternion of floats. More...

typedef Eigen::Quaternion< double > SurgSim::Math::Quaterniond
A quaternion of doubles. More...

## Functions

template<typename T , int VOpt>
Eigen::Quaternion< T > SurgSim::Math::makeRotationQuaternion (const T &angle, const Eigen::Matrix< T, 3, 1, VOpt > &axis)
Create a quaternion rotation corresponding to the specified angle (in radians) and axis. More...

template<typename T , int QOpt>
Eigen::Quaternion< T, QOpt > SurgSim::Math::negate (const Eigen::Quaternion< T, QOpt > &q)
Quaternion negation (i.e. More...

template<typename T , int QOpt, int VOpt>
void SurgSim::Math::computeAngleAndAxis (const Eigen::Quaternion< T, QOpt > &quaternion, T *angle, Eigen::Matrix< T, 3, 1, VOpt > *axis)
Get the angle (in radians) and axis corresponding to a quaternion's rotation. More...

template<typename T , int QOpt>
SurgSim::Math::computeAngle (const Eigen::Quaternion< T, QOpt > &quaternion)
Get the angle corresponding to a quaternion's rotation, in radians. More...

template<typename T , int TOpt, int VOpt>
void SurgSim::Math::computeRotationVector (const Eigen::Transform< T, 3, Eigen::Isometry, TOpt > &end, const Eigen::Transform< T, 3, Eigen::Isometry, TOpt > &start, Eigen::Matrix< T, 3, 1, VOpt > *rotationVector)
Get the vector corresponding to the rotation between transforms. More...

template<typename T , int QOpt>
Eigen::Quaternion< T, QOpt > SurgSim::Math::interpolate (const Eigen::Quaternion< T, QOpt > &q0, const Eigen::Quaternion< T, QOpt > &q1, T t)
Interpolate (slerp) between 2 quaternions. More...

## Detailed Description

Definitions of quaternion types.