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Scalar | angularDistance (const Quaternion &other) const |
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template<typename NewScalarType > |
ei_cast_return_type
< Quaternion, Quaternion
< NewScalarType > >::type | cast () const |
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const Coefficients & | coeffs () const |
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Coefficients & | coeffs () |
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Quaternion | conjugate (void) const |
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Scalar | dot (const Quaternion &other) const |
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Quaternion | inverse (void) const |
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bool | isApprox (const Quaternion &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const |
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Scalar | norm () const |
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void | normalize () |
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Quaternion | normalized () const |
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Quaternion | operator* (const Quaternion &q) const |
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template<typename Derived > |
Vector3 | operator* (const MatrixBase< Derived > &vec) const |
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template<typename Derived > |
Quaternion< Scalar >::Vector3 | operator* (const MatrixBase< Derived > &v) const |
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Quaternion & | operator*= (const Quaternion &q) |
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Quaternion & | operator= (const Quaternion &other) |
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Quaternion & | operator= (const AngleAxisType &aa) |
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template<typename Derived > |
Quaternion & | operator= (const MatrixBase< Derived > &m) |
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template<typename Derived > |
Quaternion< Scalar > & | operator= (const MatrixBase< Derived > &xpr) |
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| Quaternion () |
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| Quaternion (Scalar w, Scalar x, Scalar y, Scalar z) |
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| Quaternion (const Quaternion &other) |
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| Quaternion (const AngleAxisType &aa) |
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template<typename Derived > |
| Quaternion (const MatrixBase< Derived > &other) |
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template<typename OtherScalarType > |
| Quaternion (const Quaternion< OtherScalarType > &other) |
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template<typename Derived1 , typename Derived2 > |
Quaternion & | setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b) |
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template<typename Derived1 , typename Derived2 > |
Quaternion< Scalar > & | setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b) |
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Quaternion & | setIdentity () |
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Quaternion | slerp (Scalar t, const Quaternion &other) const |
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Scalar | squaredNorm () const |
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Matrix3 | toRotationMatrix (void) const |
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const Block< Coefficients, 3, 1 > | vec () const |
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Block< Coefficients, 3, 1 > | 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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const Quaternion< _Scalar > & | derived () const |
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Quaternion< _Scalar > & | derived () |
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Quaternion< _Scalar > | inverse () const |
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Transform< Scalar, Dim > | operator* (const Translation< Scalar, Dim > &t) const |
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RotationMatrixType | operator* (const Scaling< Scalar, Dim > &s) const |
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Transform< Scalar, Dim > | operator* (const Transform< Scalar, Dim > &t) const |
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RotationMatrixType | toRotationMatrix () const |
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template<typename Scalar>
class Eigen::Quaternion< Scalar >
The quaternion class used to represent 3D orientations and rotations.
This is defined in the Geometry module.
#include <Eigen/Geometry>
- Parameters
-
_Scalar | the scalar type, i.e., the type of the coefficients |
This class represents a quaternion
that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quatertions offer the following advantages:
- compact storage (4 scalars)
- efficient to compose (28 flops),
- stable spherical interpolation
The following two typedefs are provided for convenience:
Quaternionf
for float
Quaterniond
for double
- See Also
- class AngleAxis, class Transform