template<typename _Scalar, int _Options>
class Eigen::Quaternion< _Scalar, _Options >
The quaternion class used to represent 3D orientations and rotations.
This is defined in the Geometry module.
#include <Eigen/Geometry>
- Template Parameters
-
_Scalar | the scalar type, i.e., the type of the coefficients |
_Options | controls the memory alignment of the coefficients. Can be # AutoAlign or # DontAlign. Default is AutoAlign. |
This class represents a quaternion
that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quaternions offer the following advantages:
- compact storage (4 scalars)
- efficient to compose (28 flops),
- stable spherical interpolation
The following two typedefs are provided for convenience:
Quaternionf
for float
Quaterniond
for double
- Warning
- Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.
- See also
- class AngleAxis, class Transform
template<typename _Scalar , int _Options>
template<typename Derived1 , typename Derived2 >
Returns 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
- resulting quaternion
Note that the two input vectors do not have to be normalized, and do not need to have the same norm.