axis_angle.h File Reference

Utilities for arithmetic on axis-angle rotations. More...

#include <cmath>
#include <Eigen/Dense>
#include "drake/common/eigen_types.h"
#include "drake/math/quaternion.h"

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Namespaces
	drake
	drake::math

Functions
template<typename Derived >
Vector4< typename Derived::Scalar >	axis2quat (const Eigen::MatrixBase< Derived > &a)
template<typename Derived >
Matrix3< typename Derived::Scalar >	axis2rotmat (const Eigen::MatrixBase< Derived > &a)
template<typename Derived >
Vector3< typename Derived::Scalar >	axis2rpy (const Eigen::MatrixBase< Derived > &a)

Detailed Description

Utilities for arithmetic on axis-angle rotations.