Class Rotation

Defined in File pose.h

Class Documentation

class Rotation

Public Functions

inline Rotation(double _x, double _y, double _z, double _w)

inline Rotation()

inline void getQuaternion(double &quat_x, double &quat_y, double &quat_z, double &quat_w) const

inline void getRPY(double &roll, double &pitch, double &yaw) const

inline void setFromQuaternion(double quat_x, double quat_y, double quat_z, double quat_w)

inline void setFromRPY(double roll, double pitch, double yaw)

inline void init(const std::string &rotation_str)

inline void clear()

inline void normalize()

inline Rotation operator*(const Rotation &qt) const

inline Vector3 operator*(Vector3 vec) const: Rotate a vector using the quaternion.

inline Rotation GetInverse() const

Public Members

double x

double y

double z

double w