Functions
quaternion_operation Namespace Reference

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

◆ conjugate()

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

get conjugate Quaternion

Parameters
quat1input Quaternion
Returns
geometry_msgs::Quaternion conjugate Quaternion

Definition at line 123 of file quaternion_operation.cpp.

◆ convertEulerAngleToQuaternion()

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

convert Euler angles to Quaternion

Parameters
eulerEuler angles
Returns
geometry_msgs::Quaternion Quaternion

Definition at line 36 of file quaternion_operation.cpp.

◆ convertQuaternionToEulerAngle()

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

convert Quaternion to the Euler angle

Parameters
quatQuaternion
Returns
geometry_msgs::Vector3 euler angle

Definition at line 78 of file quaternion_operation.cpp.

◆ convertToEigenMatrix()

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

convert geometry_msgs::Quaternion to Eigen::MatrixXd

Parameters
quatinput Quaternion
Returns
Eigen::MatrixXd converted Eigen Matrix (4,1)

Definition at line 116 of file quaternion_operation.cpp.

◆ equals() [1/2]

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.

◆ equals() [2/2]

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.

◆ getRotation()

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

Get the Rotation from 2 Quaternions.

Parameters
fromfrom pose orientation
toto 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.

◆ getRotationMatrix()

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

Get the Rotation Matrix from geometry_msgs::Quaternion.

Parameters
quatinput geometry_msgs::Quaternion
Returns
Eigen::Matrix3d get 3x3 Rotation Matrix

Definition at line 64 of file quaternion_operation.cpp.

◆ rotation()

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

rotate Quaternion

Parameters
fromfrom pose orientation
rotationRotation quaternion
Returns
geometry_msgs::Quaternion Rotated pose orientation

Definition at line 132 of file quaternion_operation.cpp.

◆ slerp()

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
tparameter 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.



quaternion_operation
Author(s):
autogenerated on Mon Feb 28 2022 23:20:03