QuaternionBaseAddons.h

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//=================================================================================================
// Copyright (c) 2014, Johannes Meyer and contributors, Technische Universitat Darmstadt
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#ifndef EIGEN_QUATERNIONBASE_PLUGIN
  #include <Eigen/Core>
  #define EIGEN_QUATERNIONBASE_PLUGIN <hector_pose_estimation/Eigen/QuaternionBaseAddons.h>

#else

template <typename OtherDerived>
Derived &fromRotationVector(const MatrixBase<OtherDerived> &rotation_vector)
{
  eigen_assert(rotation_vector.size() == 3);

  const double angle = rotation_vector.norm();
  double sin_angle_2, cos_angle_2;
  ::sincos(angle / 2., &sin_angle_2, &cos_angle_2);
  double sin_angle_norm_2 = 0.5;
  if (angle > NumTraits<double>::dummy_precision()) sin_angle_norm_2 = sin_angle_2 / angle;

  w() = cos_angle_2;
  vec() = rotation_vector * sin_angle_norm_2;

  return derived();
}

Vector3 toRotationVector() const
{
  eigen_assert(squaredNorm() == 1.0);
  Scalar vector_norm = vec().norm();
  if (vector_norm <= NumTraits<Scalar>::dummy_precision())
    return vec() * Scalar(2.);
  else
    return vec() / vector_norm * ::acos(w()) * Scalar(2.);
}

#endif // EIGEN_QUATERNIONBASE_PLUGIN