xpp::StateAng3d Class Reference

Angular state of an object in 3-dimensional space. More...

`#include <state.h>`

## Public Member Functions | |

StateAng3d (Quaterniond _q=Quaterniond(1.0, 0.0, 0.0, 0.0), Vector3d _w=Vector3d::Zero(), Vector3d _wd=Vector3d::Zero()) | |

Builds an angular state. | |

## Public Attributes | |

Quaterniond | q |

orientation expressed as Quaternion. | |

Vector3d | w |

angular velocity (omega). | |

Vector3d | wd |

angular acceleration (omega dot). |

Angular state of an object in 3-dimensional space.

The orientation is expressed as a Quaternion, whereas velocities and acceleration are 3D-vectors.

xpp::StateAng3d::StateAng3d | ( | Quaterniond | _q = `Quaterniond(1.0, 0.0, 0.0, 0.0)` , |

Vector3d | _w = `Vector3d::Zero()` , |
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Vector3d | _wd = `Vector3d::Zero()` |
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) | ` [inline, explicit]` |

Builds an angular state.

**Parameters:**-
_q orientation expressed as Quaternion. _w angular velocity (omega). _wd angular acceleration (omega dot).

The conventions (Quaterion should map world to base or vice versa, angular vel/acc expressed in base or world frame) can be chosen by the user.

Quaterniond xpp::StateAng3d::q |

Vector3d xpp::StateAng3d::w |

Vector3d xpp::StateAng3d::wd |

The documentation for this class was generated from the following file: