quaternion.h File Reference

Utilities for arithmetic on quaternions. More...

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

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Namespaces
	drake
	drake::math

Functions
template<typename Derived >
Vector4< typename Derived::Scalar >	quatConjugate (const Eigen::MatrixBase< Derived > &q)
template<typename Derived1 , typename Derived2 >
Vector4< typename Derived1::Scalar >	quatProduct (const Eigen::MatrixBase< Derived1 > &q1, const Eigen::MatrixBase< Derived2 > &q2)
template<typename DerivedQ , typename DerivedV >
Vector3< typename DerivedV::Scalar >	quatRotateVec (const Eigen::MatrixBase< DerivedQ > &q, const Eigen::MatrixBase< DerivedV > &v)
template<typename Derived1 , typename Derived2 >
Vector4< typename Derived1::Scalar >	quatDiff (const Eigen::MatrixBase< Derived1 > &q1, const Eigen::MatrixBase< Derived2 > &q2)
template<typename Derived1 , typename Derived2 , typename DerivedU >
Derived1::Scalar	quatDiffAxisInvar (const Eigen::MatrixBase< Derived1 > &q1, const Eigen::MatrixBase< Derived2 > &q2, const Eigen::MatrixBase< DerivedU > &u)
template<typename Derived >
Derived::Scalar	quatNorm (const Eigen::MatrixBase< Derived > &q)
template<typename Derived1 , typename Derived2 , typename Scalar >
Vector4< Scalar >	Slerp (const Eigen::MatrixBase< Derived1 > &q1, const Eigen::MatrixBase< Derived2 > &q2, const Scalar &interpolation_parameter)
	Q = Slerp(q1, q2, f) Spherical linear interpolation between two quaternions This function uses the implementation given in Algorithm 8 of [1]. More...
template<typename Derived >
Vector4< typename Derived::Scalar >	quat2axis (const Eigen::MatrixBase< Derived > &q)
template<typename Derived >
Matrix3< typename Derived::Scalar >	quat2rotmat (const Eigen::MatrixBase< Derived > &q)
template<typename Derived >
Vector3< typename Derived::Scalar >	quat2rpy (const Eigen::MatrixBase< Derived > &q)
template<typename Derived >
Eigen::Quaternion< typename Derived::Scalar >	quat2eigenQuaternion (const Eigen::MatrixBase< Derived > &q)

Detailed Description

Utilities for arithmetic on quaternions.