The Quaternion class. More...

#include <RobotAPI/libraries/core/Pose.h>

+ Inheritance diagram for Quaternion:

Public Member Functions

VariantDataClassPtr clone (const Ice::Current &=Ice::emptyCurrent) const override
 
void deserialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
 
VariantTypeId getType (const Ice::Current &=Ice::emptyCurrent) const override
 
Ice::ObjectPtr ice_clone () const override
 
std::string output (const Ice::Current &c=Ice::emptyCurrent) const override
 
 Quaternion ()
 Construct an identity quaternion. More...
 
 Quaternion (::Ice::Float qw, ::Ice::Float qx, ::Ice::Float qy, ::Ice::Float qz)
 
 Quaternion (const Eigen::Matrix3f &)
 
 Quaternion (const Eigen::Matrix4f &)
 
 Quaternion (const Eigen::Quaternionf &)
 
void serialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override
 
Eigen::Matrix3f slerp (float, const Eigen::Matrix3f &)
 
Eigen::Matrix3f toEigen () const
 
Eigen::Quaternionf toEigenQuaternion () const
 
bool validate (const Ice::Current &=Ice::emptyCurrent) override
 

Static Public Member Functions

static Eigen::Matrix3f slerp (float, const Eigen::Matrix3f &, const Eigen::Matrix3f &)
 

Friends

std::ostream & operator<< (std::ostream &stream, const Quaternion &rhs)
 

Detailed Description

The Quaternion class.

Definition at line 154 of file Pose.h.

Constructor & Destructor Documentation

◆ Quaternion() [1/5]

Quaternion ( )
default

Construct an identity quaternion.

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◆ Quaternion() [2/5]

Quaternion ( const Eigen::Matrix4f &  m4)

Definition at line 171 of file Pose.cpp.

◆ Quaternion() [3/5]

Quaternion ( const Eigen::Matrix3f &  m3)

Definition at line 177 of file Pose.cpp.

◆ Quaternion() [4/5]

Definition at line 182 of file Pose.cpp.

◆ Quaternion() [5/5]

Quaternion ( ::Ice::Float  qw,
::Ice::Float  qx,
::Ice::Float  qy,
::Ice::Float  qz 
)

Definition at line 187 of file Pose.cpp.

Member Function Documentation

◆ clone()

VariantDataClassPtr clone ( const Ice::Current &  = Ice::emptyCurrent) const
inlineoverride

Definition at line 177 of file Pose.h.

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◆ deserialize()

void deserialize ( const armarx::ObjectSerializerBasePtr &  serializer,
const ::Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 252 of file Pose.cpp.

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◆ getType()

VariantTypeId getType ( const Ice::Current &  = Ice::emptyCurrent) const
inlineoverride

Definition at line 182 of file Pose.h.

◆ ice_clone()

Ice::ObjectPtr ice_clone ( ) const
inlineoverride

Definition at line 173 of file Pose.h.

◆ output()

std::string output ( const Ice::Current &  c = Ice::emptyCurrent) const
override

Definition at line 235 of file Pose.cpp.

◆ serialize()

void serialize ( const armarx::ObjectSerializerBasePtr &  serializer,
const ::Ice::Current &  = Ice::emptyCurrent 
) const
override

Definition at line 242 of file Pose.cpp.

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◆ slerp() [1/2]

Eigen::Matrix3f slerp ( float  alpha,
const Eigen::Matrix3f &  m 
)

Definition at line 220 of file Pose.cpp.

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◆ slerp() [2/2]

Eigen::Matrix3f slerp ( float  alpha,
const Eigen::Matrix3f &  m1,
const Eigen::Matrix3f &  m2 
)
static

Definition at line 225 of file Pose.cpp.

◆ toEigen()

Eigen::Matrix3f toEigen ( ) const

Definition at line 195 of file Pose.cpp.

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◆ toEigenQuaternion()

Eigen::Quaternionf toEigenQuaternion ( ) const

Definition at line 200 of file Pose.cpp.

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◆ validate()

bool validate ( const Ice::Current &  = Ice::emptyCurrent)
inlineoverride

Definition at line 186 of file Pose.h.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  stream,
const Quaternion rhs 
)
friend

Definition at line 192 of file Pose.h.


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