quaternion_helper.h File Reference

Helpers for integrating Eigen Quaternions with GVector classes. More...

#include "geometry.h"
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Geometry>

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Functions
template<class num >
GVector::vector3d< num >	GVector::quat_rotate (const Eigen::Quaternion< num > &quat, const GVector::vector3d< num > &vec) __attribute__((warn_unused_result))
template<class num >
void	GVector::quatToMatrix (const Eigen::Quaternion< num > &quat, GVector::matrix3d< num > &M)
template<class num >
void	GVector::transformMatrix (const Eigen::Quaternion< num > &quat, const GVector::vector3d< num > &t, GVector::matrix3d< num > &M)
template<class num >
Eigen::Quaternion< num >	GVector::quat_construct (const GVector::vector3d< num > &axis, const num angle)
template<class num >
Eigen::Quaternion< num >	GVector::randRot (const num max_angle, const Eigen::Quaternion< num > &angle)
	Generates a random rotation quaternion which rotates by a specified max angle, drawn from a Gaussian dsitribution or rotation angles.
template<class num >
Eigen::Quaternion< num >	GVector::randRot (const num &max_angle)
	Generates a random rotation quaternion which rotates by a specified max angle, drawn from a Gaussian dsitribution or rotation angles.

Detailed Description

Helpers for integrating Eigen Quaternions with GVector classes.

Author

Joydeep Biswas, (C) 2011

Definition in file quaternion_helper.h.