math/quaternion.hpp File Reference

#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>

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Classes
struct	pinocchio::quaternion::internal::quaternionbase_assign_impl< Scalar, value >
struct	pinocchio::quaternion::internal::quaternionbase_assign_impl< Scalar, true >
struct	pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_negative< i >
struct	pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_positive

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)
	Check whether the input quaternion is Normalized within the default precision. More...
template<typename Quaternion >
bool	pinocchio::quaternion::isNormalized (const Eigen::QuaternionBase< Quaternion > &quat, const typename Quaternion::Coefficients::RealScalar &prec)
	Check whether the input quaternion is Normalized within the given precision. More...
template<typename Quaternion >
void	pinocchio::quaternion::normalize (const Eigen::QuaternionBase< Quaternion > &quat)
	Normalize the input quaternion. More...
template<typename Scalar , typename QuaternionIn1 , typename QuaternionIn2 , typename QuaternionOut >
void	pinocchio::quaternion::slerp (const Scalar &u, const Eigen::QuaternionBase< QuaternionIn1 > &quat0, const Eigen::QuaternionBase< QuaternionIn2 > &quat1, const Eigen::QuaternionBase< QuaternionOut > &res)
template<typename Derived >
void	pinocchio::quaternion::uniformRandom (Eigen::QuaternionBase< Derived > &q)
	Uniformly random quaternion sphere. More...

Macro Definition Documentation

PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE

#define PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE   1e-8

Definition at line 9 of file math/quaternion.hpp.