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

quat1

input 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

euler

Euler 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

quat	Quaternion

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

quat	input 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

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.

getRotationMatrix()

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.

rotation()

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.

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
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.