Quaternion.h File Reference

Definitions of quaternion types. More...

`#include <math.h>`
`#include <Eigen/Core>`
`#include <Eigen/Geometry>`

Go to the source code of this file.

## Namespaces

| SurgSim
| SurgSim::Math

## Typedefs

typedef Eigen::Quaternion< float > | SurgSim::Math::Quaternionf
| A quaternion of floats. More...
typedef Eigen::Quaternion< double > | SurgSim::Math::Quaterniond
| A quaternion of doubles. More...

## Functions

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...

## Detailed Description

Definitions of quaternion types.