|
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> |
T | 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...
|
|
Definitions of quaternion types.