Quaternion< _Scalar, _Options > Class Template Reference

The quaternion class used to represent 3D orientations and rotations. More...

Inherits QuaternionBase< Derived >.

Public Member Functions
	Quaternion ()
	Quaternion (Scalar w, Scalar x, Scalar y, Scalar z)
	Quaternion (const Scalar *data)
template<class Derived >
	Quaternion (const QuaternionBase< Derived > &other)
	Quaternion (const AngleAxisType &aa)
template<typename Derived >
	Quaternion (const MatrixBase< Derived > &other)
Public Member Functions inherited from QuaternionBase< Derived >
Vector3	_transformVector (Vector3 v) const
template<class OtherDerived >
Scalar	angularDistance (const QuaternionBase< OtherDerived > &other) const
template<typename NewScalarType >
internal::cast_return_type < Derived, Quaternion < NewScalarType > >::type	cast () const
const internal::traits < Derived >::Coefficients &	coeffs () const
internal::traits< Derived > ::Coefficients &	coeffs ()
Quaternion< Scalar >	conjugate () const
template<class OtherDerived >
Scalar	dot (const QuaternionBase< OtherDerived > &other) const
Quaternion< Scalar >	inverse () const
template<class OtherDerived >
bool	isApprox (const QuaternionBase< OtherDerived > &other, RealScalar prec=NumTraits< Scalar >::dummy_precision()) const
Scalar	norm () const
void	normalize ()
Quaternion< Scalar >	normalized () const
template<class OtherDerived >
Quaternion< Scalar >	operator* (const QuaternionBase< OtherDerived > &q) const
template<class OtherDerived >
Derived &	operator*= (const QuaternionBase< OtherDerived > &q)
Derived &	operator= (const AngleAxisType &aa)
template<class MatrixDerived >
Derived &	operator= (const MatrixBase< MatrixDerived > &xpr)
template<typename Derived1 , typename Derived2 >
Derived &	setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)
QuaternionBase &	setIdentity ()
template<class OtherDerived >
Quaternion< Scalar >	slerp (Scalar t, const QuaternionBase< OtherDerived > &other) const
Scalar	squaredNorm () const
Matrix3	toRotationMatrix () const
const VectorBlock< const Coefficients, 3 >	vec () const
VectorBlock< Coefficients, 3 >	vec ()
Scalar	w () const
Scalar &	w ()
Scalar	x () const
Scalar &	x ()
Scalar	y () const
Scalar &	y ()
Scalar	z () const
Scalar &	z ()

Additional Inherited Members
Public Types inherited from QuaternionBase< Derived >
typedef AngleAxis< Scalar >	AngleAxisType
typedef Matrix< Scalar, 3, 3 >	Matrix3
typedef Matrix< Scalar, 3, 1 >	Vector3
Static Public Member Functions inherited from QuaternionBase< Derived >
static Quaternion< Scalar >	Identity ()

Detailed Description

template<typename _Scalar, int _Options>
class Eigen::Quaternion< _Scalar, _Options >

The quaternion class used to represent 3D orientations and rotations.

This is defined in the Geometry module.

#include <Eigen/Geometry> 

Parameters

_Scalar

the scalar type, i.e., the type of the coefficients

This class represents a quaternion that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quatertions offer the following advantages:

• compact storage (4 scalars)
• efficient to compose (28 flops),
• stable spherical interpolation

The following two typedefs are provided for convenience:

• Quaternionf for float
• Quaterniond for double

See Also

class AngleAxis, class Transform

Constructor & Destructor Documentation

Quaternion ( )

inline

Default constructor leaving the quaternion uninitialized.

Quaternion ( Scalar  w, Scalar  x, Scalar  y, Scalar  z  )

inline

Constructs and initializes the quaternion from its four coefficients w, x, y and z.

Warning

Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]

Quaternion ( const Scalar *  data )

inline

Constructs and initialize a quaternion from the array data

Quaternion ( const QuaternionBase< Derived > &  other )

inline

Copy constructor

Quaternion ( const AngleAxisType &  aa )

inlineexplicit

Constructs and initializes a quaternion from the angle-axis aa

Quaternion ( const MatrixBase< Derived > &  other )

inlineexplicit

Constructs and initializes a quaternion from either:

• a rotation matrix expression,
• a 4D vector expression representing quaternion coefficients.

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The documentation for this class was generated from the following file: