Expression of a quaternion from a memory buffer. More...
#include <Quaternion.h>
Public Types | |
enum | |
enum | |
typedef AngleAxis< Scalar > | AngleAxisType |
typedef internal::traits< Map > ::Coefficients | Coefficients |
typedef Matrix< Scalar, 3, 3 > | Matrix3 |
typedef NumTraits< Scalar >::Real | RealScalar |
typedef Matrix< Scalar, Dim, Dim > | RotationMatrixType |
typedef _Scalar | Scalar |
typedef Matrix< Scalar, 3, 1 > | Vector3 |
typedef Matrix< Scalar, Dim, 1 > | VectorType |
Public Member Functions | |
VectorType | _transformVector (const OtherVectorType &v) const |
Vector3 | _transformVector (Vector3 v) const |
Scalar | angularDistance (const QuaternionBase< OtherDerived > &other) const |
internal::cast_return_type < Map< Quaternion< _Scalar > , _Options >, Quaternion < NewScalarType > >::type | cast () const |
Coefficients & | coeffs () |
const Coefficients & | coeffs () const |
Quaternion< Scalar > | conjugate () const |
const Map< Quaternion< _Scalar > , _Options > & | derived () const |
Map< Quaternion< _Scalar > , _Options > & | derived () |
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 |
Quaternion< Scalar > | operator* (const QuaternionBase< OtherDerived > &q) const |
Map< Quaternion< _Scalar > , _Options > & | operator*= (const QuaternionBase< OtherDerived > &q) |
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 () |
Static Public Member Functions | |
static Quaternion< Scalar > | Identity () |
Protected Attributes | |
Coefficients | m_coeffs |
Expression of a quaternion from a memory buffer.
_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.
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the equivalent angle-axis type
typedef internal::traits<Map>::Coefficients Coefficients |
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corresponding linear transformation matrix type
typedef _Scalar Scalar |
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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.
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return the result vector of v through the rotation
Rotation of a vector by a quaternion.
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*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
.
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inline |
Reimplemented from QuaternionBase< Map< Quaternion< _Scalar >, _Options > >.
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Reimplemented from QuaternionBase< Map< Quaternion< _Scalar >, _Options > >.
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*this
which is equal to the multiplicative inverse if the quaternion is normalized. The conjugate of a quaternion represents the opposite rotation.
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*this
and other Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations.
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inlinestaticinherited |
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*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.Reimplemented from RotationBase< Map< Quaternion< _Scalar >, _Options >, 3 >.
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true
if *this
is approximately equal to other, within the precision determined by prec.
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Normalizes the quaternion *this
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*this
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*this
with a translation t
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*this
with a uniform scaling s
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*this
with a generic expression e e can be:
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*this
with a transformation t
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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.
*this
.Note that the two input vectors do not have to be normalized, and do not need to have the same norm.
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*this
t in [0;1] see http://en.wikipedia.org/wiki/Slerp*this
and other at the parameter t
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Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to be normalized, otherwise the result is undefined.
Reimplemented from RotationBase< Map< Quaternion< _Scalar >, _Options >, 3 >.
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w
coefficient
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w
coefficient
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x
coefficient
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inlineinherited |
x
coefficient
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inlineinherited |
y
coefficient
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inlineinherited |
y
coefficient
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inlineinherited |
z
coefficient
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inlineinherited |
z
coefficient
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protected |