Angular state of an object in 3dimensional 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. More...  
Public Attributes  
Quaterniond  q 
orientation expressed as Quaternion. More...  
Vector3d  w 
angular velocity (omega). More...  
Vector3d  wd 
angular acceleration (omega dot). More...  
Angular state of an object in 3dimensional space.
The orientation is expressed as a Quaternion, whereas velocities and acceleration are 3Dvectors.

inlineexplicit 
Builds an angular state.
_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::wd 