#include "pinocchio/math/fwd.hpp"
#include "pinocchio/math/comparison-operators.hpp"
#include "pinocchio/math/matrix.hpp"
#include "pinocchio/math/sincos.hpp"
#include "pinocchio/utils/static-if.hpp"
#include <boost/type_traits.hpp>
#include <Eigen/Geometry>
Go to the source code of this file.
Namespaces | |
pinocchio | |
Main pinocchio namespace. | |
pinocchio::quaternion | |
Quaternion operations. | |
pinocchio::quaternion::internal | |
Macros | |
#define | PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE 1e-8 |
Functions | |
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. More... | |
template<typename D , typename Matrix3 > | |
void | pinocchio::quaternion::assignQuaternion (Eigen::QuaternionBase< D > &quat, const Eigen::MatrixBase< Matrix3 > &R) |
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. More... | |
template<typename D > | |
void | pinocchio::quaternion::firstOrderNormalize (const Eigen::QuaternionBase< D > &q) |
template<typename Quaternion > | |
bool | pinocchio::quaternion::isNormalized (const Eigen::QuaternionBase< Quaternion > &quat, const typename Quaternion::Coefficients::RealScalar &prec=Eigen::NumTraits< typename Quaternion::Coefficients::RealScalar >::dummy_precision()) |
Check whether the input quaternion is Normalized within the given precision. More... | |
template<typename Derived > | |
void | pinocchio::quaternion::uniformRandom (const Eigen::QuaternionBase< Derived > &q) |
Uniformly random quaternion sphere. More... | |
#define PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE 1e-8 |
Definition at line 9 of file math/quaternion.hpp.