Angular state of an object in 3-dimensional space. More...
|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...|
|orientation expressed as Quaternion. More...|
|angular velocity (omega). More...|
|angular acceleration (omega dot). More...|
Angular state of an object in 3-dimensional space.
The orientation is expressed as a Quaternion, whereas velocities and acceleration are 3D-vectors.
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.