Function as2::frame::transformInverse(const Eigen::Quaterniond&, const Eigen::Vector3d&)

• Defined in File frame_utils.cpp

Function Documentation

Eigen::Vector3d as2::frame::transformInverse(const Eigen::Quaterniond &quaternion, const Eigen::Vector3d &vector)

Apply a inverse quaternion rotation to a vector.

Parameters:

• quaternion – Eigen::Quaterniond to apply.

• vector – Eigen::Vector3d Vector to rotate.

• quaternion – geometry_msgs::msg::Pose with the quaternion to apply.

• vector – Eigen::Vector3d Vector to rotate.

Returns:

Returns:

Eigen::Vector3d Rotated vector.

Returns:

Returns:

Eigen::Vector3d Rotated vector.