Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | List of all members
dual_quaternion Struct Reference

#include <dual_quaternion.h>

Public Member Functions

 dual_quaternion (double v=1.0)
 
dual_quaternionexp ()
 
point3d get_translation ()
 
dual_quaternionlog ()
 
dual_quaternionnormalize ()
 
dual_quaternionoperator*= (double a)
 
dual_quaternionoperator+= (const dual_quaternion &a)
 
void to_vector (double *p)
 

Static Public Member Functions

static dual_quaternion convert (const double *p)
 
static dual_quaternion rigid_transformation (const quaternion< double > &r, const point3d &t)
 

Public Attributes

quaternion< double > R
 
quaternion< double > tR_2
 

Static Public Attributes

static constexpr double dq_epsilon = 1e-8
 

Detailed Description

Definition at line 67 of file dual_quaternion.h.

Constructor & Destructor Documentation

dual_quaternion::dual_quaternion ( double  v = 1.0)
inline

Definition at line 71 of file dual_quaternion.h.

Member Function Documentation

static dual_quaternion dual_quaternion::convert ( const double *  p)
inlinestatic

Definition at line 82 of file dual_quaternion.h.

dual_quaternion& dual_quaternion::exp ( )
inline

Definition at line 169 of file dual_quaternion.h.

point3d dual_quaternion::get_translation ( )
inline

Definition at line 103 of file dual_quaternion.h.

dual_quaternion& dual_quaternion::log ( )
inline

Definition at line 133 of file dual_quaternion.h.

dual_quaternion& dual_quaternion::normalize ( )
inline

Definition at line 90 of file dual_quaternion.h.

dual_quaternion& dual_quaternion::operator*= ( double  a)
inline

Definition at line 126 of file dual_quaternion.h.

dual_quaternion& dual_quaternion::operator+= ( const dual_quaternion a)
inline

Definition at line 119 of file dual_quaternion.h.

static dual_quaternion dual_quaternion::rigid_transformation ( const quaternion< double > &  r,
const point3d &  t 
)
inlinestatic

Definition at line 75 of file dual_quaternion.h.

void dual_quaternion::to_vector ( double *  p)
inline

Definition at line 113 of file dual_quaternion.h.

Member Data Documentation

constexpr double dual_quaternion::dq_epsilon = 1e-8
static

Definition at line 73 of file dual_quaternion.h.

quaternion<double> dual_quaternion::R

Definition at line 69 of file dual_quaternion.h.

quaternion<double> dual_quaternion::tR_2

Definition at line 69 of file dual_quaternion.h.


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


trac_ik_lib
Author(s): Patrick Beeson, Barrett Ames
autogenerated on Tue Apr 23 2019 02:39:13