Template Function pinocchio::quaternion::defineSameRotation

• Defined in File quaternion.hpp

Function Documentation

template<typename D1, typename D2>
bool pinocchio::quaternion::defineSameRotation(const Eigen::QuaternionBase<D1> &q1, const Eigen::QuaternionBase<D2> &q2, const typename D1::RealScalar &prec = Eigen::NumTraits<typename D1::Scalar>::dummy_precision())

Check if two quaternions define the same rotations.

Note

Two quaternions define the same rotation iff q1 == q2 OR q1 == -q2.

Parameters:

• q1 – [in] input quaternion.

• q2 – [in] input quaternion.

Returns:

Return true if the two input quaternions define the same rotation.