template<typename _Scalar, int _Options>
class Eigen::Map< Quaternion< _Scalar >, _Options >
Expression of a quaternion from a memory buffer.
- Template Parameters
-
_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.
- See also
- class Map, class Quaternion, class QuaternionBase
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Vector3 | _transformVector (Vector3 v) const |
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internal::cast_return_type
< Map< Quaternion< _Scalar >
, _Options >, Quaternion
< NewScalarType > >::type | cast () const |
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Quaternion< Scalar > | conjugate () const |
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Scalar | dot (const QuaternionBase< OtherDerived > &other) const |
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Quaternion< Scalar > | inverse () const |
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bool | isApprox (const QuaternionBase< OtherDerived > &other, const RealScalar &prec=NumTraits< Scalar >::dummy_precision()) const |
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| Map (Scalar *coeffs) |
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RotationMatrixType | matrix () const |
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Scalar | norm () const |
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void | normalize () |
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Quaternion< Scalar > | normalized () const |
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Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
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RotationMatrixType | operator* (const UniformScaling< Scalar > &s) const |
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internal::rotation_base_generic_product_selector
< Map< Quaternion< _Scalar >
, _Options >, OtherDerived,
OtherDerived::IsVectorAtCompileTime >
::ReturnType | operator* (const EigenBase< OtherDerived > &e) const |
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Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) const |
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Map< Quaternion< _Scalar >
, _Options > & | setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b) |
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QuaternionBase & | setIdentity () |
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Scalar | squaredNorm () const |
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Matrix3 | toRotationMatrix () const |
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const VectorBlock< const
Coefficients, 3 > | vec () const |
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VectorBlock< Coefficients, 3 > | vec () |
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Scalar | w () const |
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Scalar & | w () |
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Scalar | x () const |
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Scalar & | x () |
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Scalar | y () const |
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Scalar & | y () |
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Scalar | z () const |
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Scalar & | z () |
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the equivalent angle-axis type
the equivalent rotation matrix type
corresponding linear transformation matrix type
Constructs a Mapped Quaternion object from the pointer coeffs
The pointer coeffs must reference the four coefficients of Quaternion in the following order:
If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned.
return the result vector of v through the rotation
Rotation of a vector by a quaternion.
internal::cast_return_type<Map< Quaternion< _Scalar >, _Options > ,Quaternion<NewScalarType> >::type cast |
( |
| ) |
const |
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inlineinherited |
- Returns
*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
.
- Returns
- the conjugated quaternion
-
the conjugate of the
*this
which is equal to the multiplicative inverse if the quaternion is normalized. The conjugate of a quaternion represents the opposite rotation.
- See also
- Quaternion2::inverse()
- Returns
- the dot product of
*this
and other Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations.
- See also
- angularDistance()
- Returns
- a quaternion representing an identity rotation
- See also
- MatrixBase::Identity()
- Returns
- the quaternion describing the inverse rotation
-
the multiplicative inverse of
*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.
- See also
- QuaternionBase::conjugate()
- Returns
true
if *this
is approximately equal to other, within the precision determined by prec.
- See also
- MatrixBase::isApprox()
- Returns
- an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.
- Returns
- the norm of the quaternion's coefficients
- See also
- QuaternionBase::squaredNorm(), MatrixBase::norm()
Normalizes the quaternion *this
- See also
- normalized(), MatrixBase::normalize()
- Returns
- a normalized copy of
*this
- See also
- normalize(), MatrixBase::normalized()
- Returns
- the concatenation of the rotation
*this
with a translation t
- Returns
- the concatenation of the rotation
*this
with a uniform scaling s
internal::rotation_base_generic_product_selector<Map< Quaternion< _Scalar >, _Options > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* |
( |
const EigenBase< OtherDerived > & |
e | ) |
const |
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inlineinherited |
- Returns
- the concatenation of the rotation
*this
with a generic expression e e can be:
- a DimxDim linear transformation matrix
- a DimxDim diagonal matrix (axis aligned scaling)
- a vector of size Dim
- Returns
- the concatenation of the rotation
*this
with a transformation t
- See also
- operator*(Quaternion)
- Returns
- the quaternion which transform a into b through a rotation
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.
- Returns
- a reference to
*this
.
Note that the two input vectors do not have to be normalized, and do not need to have the same norm.
- See also
- QuaternionBase::Identity(), MatrixBase::setIdentity()
Scalar squaredNorm |
( |
| ) |
const |
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inlineinherited |
- Returns
- the squared norm of the quaternion's coefficients
- See also
- QuaternionBase::norm(), MatrixBase::squaredNorm()
Matrix3 toRotationMatrix |
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void |
| ) |
const |
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inherited |
- Returns
- an equivalent 3x3 rotation matrix
Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to be normalized, otherwise the result is undefined.
- Returns
- a read-only vector expression of the imaginary part (x,y,z)
- Returns
- a vector expression of the imaginary part (x,y,z)
- Returns
- a reference to the
w
coefficient
- Returns
- a reference to the
x
coefficient
- Returns
- a reference to the
y
coefficient
- Returns
- a reference to the
z
coefficient
The documentation for this class was generated from the following file: