namespace of quaternion_operation ROS package More...

Functions
geometry_msgs::Quaternion	conjugate (geometry_msgs::Quaternion quat1)
	get conjugate Quaternion More...

geometry_msgs::Quaternion	convertEulerAngleToQuaternion (geometry_msgs::Vector3 euler)
	convert Euler angles to Quaternion More...

geometry_msgs::Vector3	convertQuaternionToEulerAngle (geometry_msgs::Quaternion quat)
	convert Quaternion to the Euler angle More...

Eigen::MatrixXd	convertToEigenMatrix (geometry_msgs::Quaternion quat)
	convert geometry_msgs::Quaternion to Eigen::MatrixXd More...

bool	equals (double a, double b)
	checke 2 double values are equal or not More...

bool	equals (geometry_msgs::Quaternion quat1, geometry_msgs::Quaternion quat2)
	check 2 Quaternion values are equal or not More...

geometry_msgs::Quaternion	getRotation (geometry_msgs::Quaternion from, geometry_msgs::Quaternion to)
	Get the Rotation from 2 Quaternions. More...

Eigen::Matrix3d	getRotationMatrix (geometry_msgs::Quaternion quat)
	Get the Rotation Matrix from geometry_msgs::Quaternion. More...

geometry_msgs::Quaternion	rotation (geometry_msgs::Quaternion from, geometry_msgs::Quaternion rotation)
	rotate Quaternion More...

geometry_msgs::Quaternion	slerp (geometry_msgs::Quaternion quat1, geometry_msgs::Quaternion quat2, double t)
	Spherical linear interpolation function for geometry_msgs::Quaternion. More...

Detailed Description

namespace of quaternion_operation ROS package

Function Documentation

geometry_msgs::Quaternion quaternion_operation::conjugate ( geometry_msgs::Quaternion quat1 )

get conjugate Quaternion

Parameters

quat1 input Quaternion

Returns: geometry_msgs::Quaternion conjugate Quaternion

Definition at line 123 of file quaternion_operation.cpp.

geometry_msgs::Quaternion quaternion_operation::convertEulerAngleToQuaternion ( geometry_msgs::Vector3 euler )

convert Euler angles to Quaternion

Parameters

euler Euler angles

Returns: geometry_msgs::Quaternion Quaternion

Definition at line 36 of file quaternion_operation.cpp.

geometry_msgs::Vector3 quaternion_operation::convertQuaternionToEulerAngle ( geometry_msgs::Quaternion quat )

convert Quaternion to the Euler angle

Parameters

quat	Quaternion

Returns: geometry_msgs::Vector3 euler angle

Definition at line 78 of file quaternion_operation.cpp.

Eigen::MatrixXd quaternion_operation::convertToEigenMatrix ( geometry_msgs::Quaternion quat )

convert geometry_msgs::Quaternion to Eigen::MatrixXd

Parameters

quat	input Quaternion

Returns: Eigen::MatrixXd converted Eigen Matrix (4,1)

Definition at line 116 of file quaternion_operation.cpp.

bool quaternion_operation::equals	(	double	a,
		double	b
	)

checke 2 double values are equal or not

Parameters

a
b

Returns: true a == b; false a != b

Definition at line 98 of file quaternion_operation.cpp.

bool quaternion_operation::equals	(	geometry_msgs::Quaternion	quat1,
		geometry_msgs::Quaternion	quat2
	)

check 2 Quaternion values are equal or not

Parameters

quat1
quat2

Returns: true a == b; false a != b

Definition at line 107 of file quaternion_operation.cpp.

geometry_msgs::Quaternion quaternion_operation::getRotation	(	geometry_msgs::Quaternion	from,
		geometry_msgs::Quaternion	to
	)

Get the Rotation from 2 Quaternions.

Parameters

from	from pose orientation
to	to pose orientation

Returns: geometry_msgs::Quaternion Rotation between 2 pose orientation described as Quaternion

See also: quaternion_operation::rotation

Definition at line 137 of file quaternion_operation.cpp.

Eigen::Matrix3d quaternion_operation::getRotationMatrix ( geometry_msgs::Quaternion quat )

Get the Rotation Matrix from geometry_msgs::Quaternion.

Parameters

quat	input geometry_msgs::Quaternion

Returns: Eigen::Matrix3d get 3x3 Rotation Matrix

Definition at line 64 of file quaternion_operation.cpp.

geometry_msgs::Quaternion quaternion_operation::rotation	(	geometry_msgs::Quaternion	from,
		geometry_msgs::Quaternion	rotation
	)

rotate Quaternion

Parameters

from	from pose orientation
rotation	Rotation quaternion

Returns: geometry_msgs::Quaternion Rotated pose orientation

Definition at line 132 of file quaternion_operation.cpp.

geometry_msgs::Quaternion quaternion_operation::slerp	(	geometry_msgs::Quaternion	quat1,
		geometry_msgs::Quaternion	quat2,
		double	t
	)

Spherical linear interpolation function for geometry_msgs::Quaternion.

Parameters

quat1
quat2
t	parameter for interpolation (if t=0,return==quat1),(if t=1,return==quat2)

Returns: geometry_msgs::Quaternion result of Spherical linear interpolation opertaion

Definition at line 144 of file quaternion_operation.cpp.

Functions

Detailed Description

Function Documentation