Expression of a quaternion from a memory buffer.
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#include <Quaternion.h>
Public Member Functions |
Vector3 | _transformVector (Vector3 v) const |
internal::cast_return_type
< Map< Quaternion< _Scalar >
, _Options >, Quaternion
< NewScalarType > >::type | cast () const |
Coefficients & | coeffs () |
const Coefficients & | coeffs () const |
Quaternion< Scalar > | conjugate () const |
Scalar | dot (const QuaternionBase< OtherDerived > &other) const |
Quaternion< Scalar > | inverse () const |
bool | isApprox (const QuaternionBase< OtherDerived > &other, RealScalar prec=NumTraits< Scalar >::dummy_precision()) const |
| Map (Scalar *coeffs) |
RotationMatrixType | matrix () const |
Scalar | norm () const |
void | normalize () |
Quaternion< Scalar > | normalized () const |
Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
RotationMatrixType | operator* (const UniformScaling< Scalar > &s) const |
internal::rotation_base_generic_product_selector
< Map< Quaternion< _Scalar >
, _Options >, OtherDerived,
OtherDerived::IsVectorAtCompileTime >
::ReturnType | operator* (const EigenBase< OtherDerived > &e) const |
Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) const |
Map< Quaternion< _Scalar >
, _Options > & | setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b) |
QuaternionBase & | setIdentity () |
Quaternion< Scalar > | slerp (Scalar t, const QuaternionBase< OtherDerived > &other) const |
Scalar | squaredNorm () const |
Matrix3 | toRotationMatrix () const |
const VectorBlock< const
Coefficients, 3 > | vec () const |
VectorBlock< Coefficients, 3 > | vec () |
Scalar | w () const |
Scalar & | w () |
Scalar | x () const |
Scalar & | x () |
Scalar | y () const |
Scalar & | y () |
Scalar | z () const |
Scalar & | z () |
Detailed Description
template<typename _Scalar, int _Options>
class Eigen::Map< Quaternion< _Scalar >, _Options >
Expression of a quaternion from a memory buffer.
- Template Parameters
-
_Scalar | the type of the Quaternion coefficients |
_Options | see class Map |
This is a specialization of class Map for Quaternion. This class allows to view a 4 scalar memory buffer as an Eigen's Quaternion object.
- See Also
- class Map, class Quaternion, class QuaternionBase
Member Typedef Documentation
the equivalent angle-axis type
the equivalent rotation matrix type
corresponding linear transformation matrix type
Constructor & Destructor Documentation
Constructs a Mapped Quaternion object from the pointer coeffs
The pointer coeffs must reference the four coeffecients of Quaternion in the following order:
If the template parameter _Options is set to Aligned, then the pointer coeffs must be aligned.
Member Function Documentation
return the result vector of v through the rotation
Rotation of a vector by a quaternion.
internal::cast_return_type<Map< Quaternion< _Scalar >, _Options > ,Quaternion<NewScalarType> >::type cast |
( |
| ) |
const |
|
inlineinherited |
- Returns
*this
with scalar type casted to NewScalarType
Note that if NewScalarType is equal to the current scalar type of *this
then this function smartly returns a const reference to *this
.
const Coefficients& coeffs |
( |
| ) |
const |
|
inline |
- Returns
- the conjugated quaternion
-
the conjugate of the
*this
which is equal to the multiplicative inverse if the quaternion is normalized. The conjugate of a quaternion represents the opposite rotation.
- See Also
- Quaternion2::inverse()
- Returns
- the dot product of
*this
and other Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations.
- See Also
- angularDistance()
- Returns
- a quaternion representing an identity rotation
- See Also
- MatrixBase::Identity()
- Returns
- the quaternion describing the inverse rotation
-
the multiplicative inverse of
*this
Note that in most cases, i.e., if you simply want the opposite rotation, and/or the quaternion is normalized, then it is enough to use the conjugate.
- See Also
- QuaternionBase::conjugate()
Reimplemented from RotationBase< Map< Quaternion< _Scalar >, _Options >, 3 >.
bool isApprox |
( |
const QuaternionBase< OtherDerived > & |
other, |
|
|
RealScalar |
prec = NumTraits<Scalar>::dummy_precision() |
|
) |
| const |
|
inlineinherited |
- Returns
true
if *this
is approximately equal to other, within the precision determined by prec.
- See Also
- MatrixBase::isApprox()
- Returns
- an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.
- Returns
- the norm of the quaternion's coefficients
- See Also
- QuaternionBase::squaredNorm(), MatrixBase::norm()
Normalizes the quaternion *this
- See Also
- normalized(), MatrixBase::normalize()
- Returns
- a normalized copy of
*this
- See Also
- normalize(), MatrixBase::normalized()
- Returns
- the concatenation of the rotation
*this
with a translation t
- Returns
- the concatenation of the rotation
*this
with a uniform scaling s
internal::rotation_base_generic_product_selector<Map< Quaternion< _Scalar >, _Options > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* |
( |
const EigenBase< OtherDerived > & |
e | ) |
const |
|
inlineinherited |
- Returns
- the concatenation of the rotation
*this
with a generic expression e e can be:
- a DimxDim linear transformation matrix
- a DimxDim diagonal matrix (axis aligned scaling)
- a vector of size Dim
- Returns
- the concatenation of the rotation
*this
with a transformation t
- Returns
- the quaternion which transform a into b through a rotation
Sets *this
to be a quaternion representing a rotation between the two arbitrary vectors a and b. In other words, the built rotation represent a rotation sending the line of direction a to the line of direction b, both lines passing through the origin.
- Returns
- a reference to
*this
.
Note that the two input vectors do not have to be normalized, and do not need to have the same norm.
- See Also
- QuaternionBase::Identity(), MatrixBase::setIdentity()
- Returns
- an interpolation for a constant motion between other and
*this
t in [0;1] see http://en.wikipedia.org/wiki/Slerp
-
the spherical linear interpolation between the two quaternions
*this
and other at the parameter t
Scalar squaredNorm |
( |
| ) |
const |
|
inlineinherited |
- Returns
- the squared norm of the quaternion's coefficients
- See Also
- QuaternionBase::norm(), MatrixBase::squaredNorm()
Matrix3 toRotationMatrix |
( |
void |
| ) |
const |
|
inherited |
- Returns
- a read-only vector expression of the imaginary part (x,y,z)
- Returns
- a vector expression of the imaginary part (x,y,z)
- Returns
- a reference to the
w
coefficient
- Returns
- a reference to the
x
coefficient
- Returns
- a reference to the
y
coefficient
- Returns
- a reference to the
z
coefficient
The documentation for this class was generated from the following file: