Template Function pinocchio::quaternion::angleBetweenQuaternions

• Defined in File quaternion.hpp

Function Documentation

template<typename D1, typename D2>
D1::Scalar pinocchio::quaternion::angleBetweenQuaternions(const Eigen::QuaternionBase<D1> &q1, const Eigen::QuaternionBase<D2> &q2)

Compute the minimal angle between q1 and q2.

Parameters:

• q1 – [in] input quaternion.

• q2 – [in] input quaternion.

Returns:

angle between the two quaternions